diff --git a/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-15-50_247302/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-15-50_247302/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16cd4e180eac09f2ac5f1e8e607ebf6cb8931630 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-15-50_247302/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -282.3572567365982, + 30.02772572785939, + 103.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -282.3572567365982, + 30.02772572785939, + 106.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -282.3572567365982, + 30.02772572785939, + 109.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -282.3572567365982, + 30.02772572785939, + 112.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -282.3572567365982, + 30.02772572785939, + 115.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -282.3572567365982, + 30.02772572785939, + 118.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -282.3572567365982, + 30.02772572785939, + 121.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -282.3572567365982, + 30.02772572785939, + 121.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -282.3572567365982, + 30.02772572785939, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -280.8572567365982, + 27.429649516506075, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -279.3572567365982, + 24.83157330515276, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -277.8572567365982, + 22.233497093799443, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -276.3572567365982, + 19.635420882446127, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -274.8572567365982, + 17.03734467109281, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -273.3572567365982, + 14.439268459739495, + 121.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -273.3572567365982, + 14.439268459739495, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -273.3572567365982, + 11.439268459739495, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -273.3572567365982, + 8.439268459739495, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -273.3572567365982, + 5.439268459739495, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -273.3572567365982, + 2.4392684597394947, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -273.3572567365982, + -0.5607315402605053, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -273.3572567365982, + -3.5607315402605053, + 121.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -273.3572567365982, + -3.5607315402605053, + 118.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -273.3572567365982, + -3.5607315402605053, + 115.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -273.3572567365982, + -3.5607315402605053, + 115.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -271.8572567365982, + -6.158807751613821, + 115.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -270.3572567365982, + -8.756883962967137, + 115.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -268.8572567365982, + -11.354960174320453, + 115.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -268.8572567365982, + -11.354960174320453, + 112.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -268.8572567365982, + -11.354960174320453, + 109.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -268.8572567365982, + -11.354960174320453, + 106.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -268.8572567365982, + -11.354960174320453, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -264.0, + -32.0, + 98.3205 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-16-16_894228/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-16-16_894228/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9559392f339f7e0e7346e56c14546358fe46ec26 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-16-16_894228/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 70.47174427071529, + -147.5027165086051, + 103.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 70.47174427071529, + -147.5027165086051, + 106.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 70.47174427071529, + -147.5027165086051, + 109.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 70.47174427071529, + -147.5027165086051, + 109.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 70.47174427071529, + -147.5027165086051, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 71.97174427071529, + -144.90464029725177, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 73.47174427071529, + -142.30656408589846, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 74.97174427071529, + -139.70848787454514, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 76.47174427071529, + -137.11041166319183, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 77.97174427071529, + -134.5123354518385, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 79.47174427071529, + -131.9142592404852, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 80.97174427071529, + -129.31618302913188, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 82.47174427071529, + -126.71810681777856, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 83.97174427071529, + -124.12003060642525, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 85.47174427071529, + -121.52195439507193, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 86.97174427071529, + -118.92387818371861, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 88.47174427071529, + -116.3258019723653, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 89.97174427071529, + -113.72772576101198, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 91.47174427071529, + -111.12964954965867, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 92.97174427071529, + -108.53157333830535, + 109.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 92.97174427071529, + -108.53157333830535, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 92.97174427071529, + -105.53157333830535, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 92.97174427071529, + -102.53157333830535, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 92.97174427071529, + -99.53157333830535, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 92.97174427071529, + -96.53157333830535, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 92.97174427071529, + -93.53157333830535, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 92.97174427071529, + -90.53157333830535, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 92.97174427071529, + -87.53157333830535, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 92.97174427071529, + -84.53157333830535, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 92.97174427071529, + -81.53157333830535, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 92.97174427071529, + -78.53157333830535, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 92.97174427071529, + -75.53157333830535, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 92.97174427071529, + -72.53157333830535, + 109.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 92.97174427071529, + -72.53157333830535, + 106.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 92.97174427071529, + -72.53157333830535, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 94.47174427071529, + -69.93349712695203, + 106.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 100.0, + -52.0, + 103.289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-17-01_342350/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-17-01_342350/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd4b05dc2237ae6ace84cf9113d0f34970c07754 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-17-01_342350/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -317.24288783483416, + 50.83635658161171, + 103.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -317.24288783483416, + 50.83635658161171, + 106.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -317.24288783483416, + 50.83635658161171, + 109.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -317.24288783483416, + 50.83635658161171, + 109.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -317.24288783483416, + 50.83635658161171, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -315.74288783483416, + 48.238280370258394, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -314.24288783483416, + 45.64020415890508, + 109.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -314.24288783483416, + 45.64020415890508, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -314.24288783483416, + 42.64020415890508, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -314.24288783483416, + 39.64020415890508, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -314.24288783483416, + 36.64020415890508, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -314.24288783483416, + 33.64020415890508, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -314.24288783483416, + 30.640204158905078, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -314.24288783483416, + 27.640204158905078, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -314.24288783483416, + 24.640204158905078, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -314.24288783483416, + 21.640204158905078, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -314.24288783483416, + 18.640204158905078, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -314.24288783483416, + 15.640204158905078, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -314.24288783483416, + 12.640204158905078, + 109.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -314.24288783483416, + 12.640204158905078, + 109.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -314.24288783483416, + 12.640204158905078, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -311.64481162348085, + 11.140204158905078, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -309.04673541212753, + 9.640204158905078, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -306.4486592007742, + 8.140204158905078, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -303.8505829894209, + 6.640204158905078, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -301.2525067780676, + 5.140204158905078, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -298.65443056671427, + 3.640204158905078, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -296.05635435536095, + 2.140204158905078, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -293.45827814400764, + 0.6402041589050784, + 109.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -293.45827814400764, + 0.6402041589050784, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -291.95827814400764, + -1.9578720524482376, + 109.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -291.95827814400764, + -1.9578720524482376, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -289.3602019326543, + -3.4578720524482374, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -286.762125721301, + -4.957872052448237, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -284.1640495099477, + -6.457872052448237, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -281.5659732985944, + -7.957872052448237, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -278.96789708724106, + -9.457872052448236, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982986 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -276.36982087588774, + -10.957872052448236, + 109.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982986 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -276.36982087588774, + -10.957872052448236, + 106.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982986 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -276.36982087588774, + -10.957872052448236, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982986 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -264.0, + -32.0, + 98.3205 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-20-29_142848/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-20-29_142848/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5246d10b3dcd2ce4d3be5ac32943f54d59a3bc05 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-20-29_142848/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 54.694050580301536, + -179.02399351156885, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 56.194050580301536, + -176.42591730021553, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 57.694050580301536, + -173.82784108886221, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 59.194050580301536, + -171.2297648775089, + 103.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 59.194050580301536, + -171.2297648775089, + 106.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 59.194050580301536, + -171.2297648775089, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 60.694050580301536, + -168.63168866615558, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 62.194050580301536, + -166.03361245480227, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 63.694050580301536, + -163.43553624344895, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 65.19405058030154, + -160.83746003209563, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 66.69405058030154, + -158.23938382074232, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 68.19405058030154, + -155.641307609389, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 69.69405058030154, + -153.0432313980357, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 71.19405058030154, + -150.44515518668237, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 72.69405058030154, + -147.84707897532905, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 74.19405058030154, + -145.24900276397574, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 75.69405058030154, + -142.65092655262242, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 77.19405058030154, + -140.0528503412691, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 78.69405058030154, + -137.4547741299158, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 80.19405058030154, + -134.85669791856247, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 81.69405058030154, + -132.25862170720916, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 83.19405058030154, + -129.66054549585584, + 109.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 83.19405058030154, + -129.66054549585584, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 85.79212679165485, + -128.16054549585584, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 88.39020300300817, + -126.66054549585584, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 90.98827921436148, + -125.16054549585584, + 109.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 90.98827921436148, + -125.16054549585584, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 93.5863554257148, + -123.66054549585584, + 106.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.0, + -104.0, + 98.4565 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-20-52_462149/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-20-52_462149/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e68957e7f3041479715c6299ceba0a1a0a35cc85 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-20-52_462149/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 54.491334601564304, + -71.703892383441, + 103.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 54.491334601564304, + -71.703892383441, + 106.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 54.491334601564304, + -71.703892383441, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 57.08941081291762, + -73.203892383441, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 59.687487024270936, + -74.703892383441, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 62.28556323562425, + -76.203892383441, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 64.88363944697757, + -77.703892383441, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 67.48171565833088, + -79.203892383441, + 106.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.0, + -104.0, + 98.4565 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-21-26_439171/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-21-26_439171/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20209203afdcae9ca48dee0343d3d2fab1f935a5 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-21-26_439171/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -294.5865841647653, + -271.829806917876, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -291.988507953412, + -273.329806917876, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -289.3904317420587, + -274.829806917876, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -286.7923555307054, + -276.329806917876, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -284.19427931935206, + -277.829806917876, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -281.59620310799875, + -279.329806917876, + 103.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -281.59620310799875, + -279.329806917876, + 106.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -281.59620310799875, + -279.329806917876, + 109.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -281.59620310799875, + -279.329806917876, + 112.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -278.99812689664543, + -280.829806917876, + 112.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -276.4000506852921, + -282.329806917876, + 112.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -273.8019744739388, + -283.829806917876, + 112.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -271.2038982625855, + -285.329806917876, + 112.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -268.60582205123217, + -286.829806917876, + 112.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -266.00774583987885, + -288.329806917876, + 112.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -263.40966962852553, + -289.829806917876, + 112.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -263.40966962852553, + -289.829806917876, + 112.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -260.40966962852553, + -289.829806917876, + 112.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -257.40966962852553, + -289.829806917876, + 112.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -257.40966962852553, + -289.829806917876, + 109.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -257.40966962852553, + -289.829806917876, + 106.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -257.40966962852553, + -289.829806917876, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -300.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-22-12_8518/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-22-12_8518/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..acd84a6d3f2c25693eccccc229e1e747370fad23 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-22-12_8518/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 42.0122333772056, + -70.47934455297496, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 45.0122333772056, + -70.47934455297496, + 103.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 45.0122333772056, + -70.47934455297496, + 106.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 45.0122333772056, + -70.47934455297496, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 48.0122333772056, + -70.47934455297496, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 51.0122333772056, + -70.47934455297496, + 109.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 51.0122333772056, + -70.47934455297496, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 53.61030958855891, + -68.97934455297496, + 109.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 53.61030958855891, + -68.97934455297496, + 106.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 53.61030958855891, + -68.97934455297496, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 100.0, + -52.0, + 103.289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-22-48_864846/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-22-48_864846/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b4f15dcffa0e0a597e1cecedf9296dff9ca6184 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-22-48_864846/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 101.1471094332506, + -25.95930959336414, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 101.1471094332506, + -28.95930959336414, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 101.1471094332506, + -31.95930959336414, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 101.1471094332506, + -34.95930959336414, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 101.1471094332506, + -37.95930959336414, + 103.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 101.1471094332506, + -37.95930959336414, + 106.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 101.1471094332506, + -37.95930959336414, + 106.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 101.1471094332506, + -37.95930959336414, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 103.74518564460392, + -39.45930959336414, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 106.34326185595724, + -40.95930959336414, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 108.94133806731055, + -42.45930959336414, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 111.53941427866387, + -43.95930959336414, + 106.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 111.53941427866387, + -43.95930959336414, + 106.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 111.53941427866387, + -43.95930959336414, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 111.53941427866387, + -46.95930959336414, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 111.53941427866387, + -49.95930959336414, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 111.53941427866387, + -52.95930959336414, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 111.53941427866387, + -55.95930959336414, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 111.53941427866387, + -58.95930959336414, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 111.53941427866387, + -61.95930959336414, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 111.53941427866387, + -64.95930959336414, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 111.53941427866387, + -67.95930959336414, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 111.53941427866387, + -70.95930959336414, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 111.53941427866387, + -73.95930959336414, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 111.53941427866387, + -76.95930959336414, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 111.53941427866387, + -79.95930959336414, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 111.53941427866387, + -82.95930959336414, + 106.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 111.53941427866387, + -82.95930959336414, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 110.03941427866387, + -85.55738580471746, + 106.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 108.53941427866387, + -88.15546201607077, + 106.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 108.53941427866387, + -88.15546201607077, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.0, + -104.0, + 98.4565 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-23-32_486359/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-23-32_486359/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70c9ac60eacb2fe9b5db8d47c5a32953f2542be4 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-23-32_486359/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -266.0111434291377, + 57.856386673160415, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -266.0111434291377, + 54.856386673160415, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -266.0111434291377, + 51.856386673160415, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -266.0111434291377, + 48.856386673160415, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -266.0111434291377, + 45.856386673160415, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -266.0111434291377, + 42.856386673160415, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -266.0111434291377, + 39.856386673160415, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -266.0111434291377, + 36.856386673160415, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -266.0111434291377, + 33.856386673160415, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -266.0111434291377, + 30.856386673160415, + 103.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -266.0111434291377, + 30.856386673160415, + 106.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -266.0111434291377, + 30.856386673160415, + 109.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -266.0111434291377, + 30.856386673160415, + 112.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -266.0111434291377, + 30.856386673160415, + 115.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -266.0111434291377, + 30.856386673160415, + 118.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -266.0111434291377, + 30.856386673160415, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -266.0111434291377, + 27.856386673160415, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -266.0111434291377, + 24.856386673160415, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -266.0111434291377, + 21.856386673160415, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -266.0111434291377, + 18.856386673160415, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -266.0111434291377, + 15.856386673160415, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -266.0111434291377, + 12.856386673160415, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -266.0111434291377, + 9.856386673160415, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -266.0111434291377, + 6.856386673160415, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -266.0111434291377, + 3.856386673160415, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -266.0111434291377, + 0.8563866731604151, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -266.0111434291377, + -2.143613326839585, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -266.0111434291377, + -5.143613326839585, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -266.0111434291377, + -8.143613326839585, + 121.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -266.0111434291377, + -8.143613326839585, + 118.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -266.0111434291377, + -8.143613326839585, + 115.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -266.0111434291377, + -8.143613326839585, + 112.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -266.0111434291377, + -8.143613326839585, + 109.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -266.0111434291377, + -8.143613326839585, + 106.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -266.0111434291377, + -8.143613326839585, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -266.0111434291377, + -8.143613326839585, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -264.5111434291377, + -10.741689538192901, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -264.0, + -32.0, + 98.3205 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-24-50_620908/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-24-50_620908/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c8dc2ed9c5b1c6f20e082ef157808bb6433d52b2 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-24-50_620908/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -292.3458522906065, + -301.1963683862173, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -289.3458522906065, + -301.1963683862173, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -286.3458522906065, + -301.1963683862173, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -283.3458522906065, + -301.1963683862173, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -280.3458522906065, + -301.1963683862173, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -277.3458522906065, + -301.1963683862173, + 103.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -277.3458522906065, + -301.1963683862173, + 106.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -277.3458522906065, + -301.1963683862173, + 109.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -277.3458522906065, + -301.1963683862173, + 112.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -274.3458522906065, + -301.1963683862173, + 112.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -271.3458522906065, + -301.1963683862173, + 112.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -268.3458522906065, + -301.1963683862173, + 112.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -265.3458522906065, + -301.1963683862173, + 112.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -262.3458522906065, + -301.1963683862173, + 112.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -259.3458522906065, + -301.1963683862173, + 112.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -256.3458522906065, + -301.1963683862173, + 112.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -256.3458522906065, + -301.1963683862173, + 109.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -256.3458522906065, + -301.1963683862173, + 106.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -256.3458522906065, + -301.1963683862173, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -300.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-25-23_43912/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-25-23_43912/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..205f61dc1fd5e9c0e87d71c09fcba2d28a5ee1f4 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-25-23_43912/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 75.68705929386475, + -149.14729412566882, + 103.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 75.68705929386475, + -149.14729412566882, + 106.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 75.68705929386475, + -149.14729412566882, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 78.68705929386475, + -149.14729412566882, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 81.68705929386475, + -149.14729412566882, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 84.68705929386475, + -149.14729412566882, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 87.68705929386475, + -149.14729412566882, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 90.68705929386475, + -149.14729412566882, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 93.68705929386475, + -149.14729412566882, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 96.68705929386475, + -149.14729412566882, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 99.68705929386475, + -149.14729412566882, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 102.68705929386475, + -149.14729412566882, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 105.68705929386475, + -149.14729412566882, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 108.68705929386475, + -149.14729412566882, + 109.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 108.68705929386475, + -149.14729412566882, + 106.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 108.68705929386475, + -149.14729412566882, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 108.68705929386475, + -149.14729412566882, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 111.28513550521807, + -147.64729412566882, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + -144.0, + 90.3044 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-25-20_1804289383/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-25-20_1804289383/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..986931ea4edfc80aa14c0dc51045107dae392740 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-25-20_1804289383/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 116.77778319579508, + -32.236245292554685, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 118.27778319579508, + -34.834321503908, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 119.77778319579508, + -37.43239771526132, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 119.77778319579508, + -37.43239771526132, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 119.77778319579508, + -40.43239771526132, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 119.77778319579508, + -43.43239771526132, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 119.77778319579508, + -46.43239771526132, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 119.77778319579508, + -49.43239771526132, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 119.77778319579508, + -52.43239771526132, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 119.77778319579508, + -55.43239771526132, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 119.77778319579508, + -58.43239771526132, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 119.77778319579508, + -61.43239771526132, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 119.77778319579508, + -64.43239771526132, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 119.77778319579508, + -64.43239771526132, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 118.27778319579508, + -67.03047392661463, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 116.77778319579508, + -69.62855013796795, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 115.27778319579508, + -72.22662634932126, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 113.77778319579508, + -74.82470256067458, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 112.27778319579508, + -77.4227787720279, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 110.77778319579508, + -80.02085498338121, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 109.27778319579508, + -82.61893119473453, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 109.27778319579508, + -82.61893119473453, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 109.27778319579508, + -85.61893119473453, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.0, + -104.0, + 98.4565 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-26-18_424238335/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-26-18_424238335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d745f26d07d49838aa3992ebea89a421fb612c0a --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-26-18_424238335/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 111.15420931888649, + -216.6205364098683, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 108.55613310753317, + -215.1205364098683, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 105.95805689617985, + -213.6205364098683, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 103.35998068482654, + -212.1205364098683, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 100.76190447347322, + -210.6205364098683, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 98.1638282621199, + -209.1205364098683, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 95.56575205076659, + -207.6205364098683, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 95.56575205076659, + -207.6205364098683, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 92.56575205076659, + -207.6205364098683, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 89.56575205076659, + -207.6205364098683, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 86.56575205076659, + -207.6205364098683, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 83.56575205076659, + -207.6205364098683, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 80.56575205076659, + -207.6205364098683, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 77.56575205076659, + -207.6205364098683, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 74.56575205076659, + -207.6205364098683, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 71.56575205076659, + -207.6205364098683, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + -200.0, + 93.7776 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-27-22_1025202362/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-27-22_1025202362/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8b2c651cfffb4a2998f8c9c318cc660a9e13e557 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-27-22_1025202362/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 183.48573466800966, + -279.0164755118335, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 181.98573466800966, + -276.4183993004802, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 180.48573466800966, + -273.8203230891269, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 178.98573466800966, + -271.22224687777356, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 178.98573466800966, + -271.22224687777356, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 178.98573466800966, + -268.22224687777356, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 178.98573466800966, + -265.22224687777356, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 178.98573466800966, + -262.22224687777356, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 178.98573466800966, + -259.22224687777356, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 178.98573466800966, + -256.22224687777356, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 168.0, + -220.0, + 90.3047 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-27-31_1350490027/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-27-31_1350490027/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d445149d01a02bed7fed8c29e58986b0447822e --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-27-31_1350490027/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 81.56787280254356, + -182.65261913070344, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 81.56787280254356, + -179.65261913070344, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 81.56787280254356, + -176.65261913070344, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 81.56787280254356, + -176.65261913070344, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 83.06787280254356, + -174.05454291935013, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 84.56787280254356, + -171.4564667079968, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 86.06787280254356, + -168.8583904966435, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 86.06787280254356, + -168.8583904966435, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 86.06787280254356, + -165.8583904966435, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 86.06787280254356, + -162.8583904966435, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 86.06787280254356, + -159.8583904966435, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 86.06787280254356, + -156.8583904966435, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 86.06787280254356, + -153.8583904966435, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 86.06787280254356, + -150.8583904966435, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 86.06787280254356, + -147.8583904966435, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 86.06787280254356, + -144.8583904966435, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 86.06787280254356, + -141.8583904966435, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 86.06787280254356, + -138.8583904966435, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 86.06787280254356, + -138.8583904966435, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 84.56787280254356, + -136.26031428529018, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 83.06787280254356, + -133.66223807393686, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 81.56787280254356, + -131.06416186258355, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 80.06787280254356, + -128.46608565123023, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 78.56787280254356, + -125.86800943987691, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 78.56787280254356, + -125.86800943987691, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 75.96979659119025, + -124.36800943987691, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 73.37172037983693, + -122.86800943987691, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -104.0, + 98.3909 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-27-59_1102520059/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-27-59_1102520059/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..477152a8240e13a800a5ca8f1e95623c9b620fb7 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-27-59_1102520059/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 234.0620522083981, + -269.50072899253865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 231.46397599704477, + -268.00072899253865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 228.86589978569145, + -266.50072899253865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 226.26782357433814, + -265.00072899253865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 223.66974736298482, + -263.50072899253865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 221.0716711516315, + -262.00072899253865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 218.4735949402782, + -260.50072899253865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 215.87551872892487, + -259.00072899253865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 213.27744251757156, + -257.50072899253865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 210.67936630621824, + -256.00072899253865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 208.08129009486493, + -254.50072899253865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 205.4832138835116, + -253.00072899253865, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 205.4832138835116, + -253.00072899253865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 203.9832138835116, + -250.40265278118534, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 202.4832138835116, + -247.80457656983202, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 168.0, + -220.0, + 90.3047 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-28-10_2044897763/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-28-10_2044897763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..062601d226f4ec7979288ae5489cfe9c214cc1a7 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-28-10_2044897763/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 223.08709276396772, + -284.86943045785483, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 224.58709276396772, + -282.2713542465015, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 226.08709276396772, + -279.6732780351482, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 227.58709276396772, + -277.0752018237949, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 229.08709276396772, + -274.47712561244157, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 230.58709276396772, + -271.87904940108825, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 232.08709276396772, + -269.28097318973494, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 232.08709276396772, + -269.28097318973494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 232.08709276396772, + -266.28097318973494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 232.08709276396772, + -263.28097318973494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 232.08709276396772, + -260.28097318973494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 232.08709276396772, + -257.28097318973494, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 244.0, + -224.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-28-37_1365180540/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-28-37_1365180540/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b260c3dd24eefb0befb441f47e0016b387844f7 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-28-37_1365180540/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -262.30330318182394, + -225.61138533553614, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -260.80330318182394, + -228.20946154688946, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -259.30330318182394, + -230.80753775824277, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -257.80330318182394, + -233.4056139695961, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -256.30330318182394, + -236.0036901809494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -254.80330318182394, + -238.60176639230272, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -253.30330318182394, + -241.19984260365604, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -251.80330318182394, + -243.79791881500935, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -250.30330318182394, + -246.39599502636267, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -248.80330318182394, + -248.99407123771599, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -247.30330318182394, + -251.5921474490693, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -245.80330318182394, + -254.19022366042262, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -244.30330318182394, + -256.78829987177596, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966025 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -242.80330318182394, + -259.3863760831293, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -241.30330318182394, + -261.9844522944826, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -239.80330318182394, + -264.5825285058359, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -239.80330318182394, + -264.5825285058359, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -239.80330318182394, + -267.5825285058359, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -239.80330318182394, + -270.5825285058359, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -239.80330318182394, + -273.5825285058359, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -300.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-28-50_1540383426/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-28-50_1540383426/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4402d1f8a09d07801d15eba5cbab235a5994a480 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-28-50_1540383426/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -232.09384177909192, + -146.37153302947675, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -232.09384177909192, + -149.37153302947675, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -232.09384177909192, + -152.37153302947675, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -232.09384177909192, + -155.37153302947675, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -232.09384177909192, + -158.37153302947675, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -232.09384177909192, + -161.37153302947675, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -232.09384177909192, + -164.37153302947675, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -232.09384177909192, + -167.37153302947675, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -232.09384177909192, + -170.37153302947675, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -232.09384177909192, + -173.37153302947675, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -232.09384177909192, + -176.37153302947675, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -232.09384177909192, + -179.37153302947675, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-29-37_521595368/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-29-37_521595368/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..19dc4ee8279a6b2f8106ef581a284626fa236b9a --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-29-37_521595368/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 238.8877304041234, + -181.7842326013976, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 241.8877304041234, + -181.7842326013976, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 244.8877304041234, + -181.7842326013976, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 247.8877304041234, + -181.7842326013976, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 250.8877304041234, + -181.7842326013976, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 253.8877304041234, + -181.7842326013976, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 253.8877304041234, + -181.7842326013976, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 256.4858066154767, + -183.2842326013976, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983036 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 256.4858066154767, + -183.2842326013976, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966023 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 257.9858066154767, + -185.88230881275092, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 259.4858066154767, + -188.48038502410424, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 259.4858066154767, + -188.48038502410424, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 262.08388282683, + -189.98038502410424, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 264.6819590381833, + -191.48038502410424, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 267.28003524953664, + -192.98038502410424, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 269.87811146088995, + -194.48038502410424, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 272.47618767224327, + -195.98038502410424, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 275.0742638835966, + -197.48038502410424, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 277.6723400949499, + -198.98038502410424, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 280.2704163063032, + -200.48038502410424, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 282.86849251765653, + -201.98038502410424, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 285.46656872900985, + -203.48038502410424, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 288.06464494036317, + -204.98038502410424, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 290.6627211517165, + -206.48038502410424, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 293.2607973630698, + -207.98038502410424, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 295.8588735744231, + -209.48038502410424, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 298.45694978577643, + -210.98038502410424, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + -224.0, + 90.3059 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-29-53_294702567/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-29-53_294702567/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..09a0bfa25b609a3f6f37639966486edc74dfe05b --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-29-53_294702567/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 116.76182779274096, + 83.42109240586225, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 114.16375158138764, + 81.92109240586225, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 111.56567537003433, + 80.42109240586225, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + 64.0, + 95.4746 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-29-59_1726956429/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-29-59_1726956429/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf22c3e11884f0b3e6a57db4e763a0195ef3afed --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-29-59_1726956429/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 125.26815912331114, + -70.6250361522207, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 122.67008291195782, + -72.1250361522207, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 120.0720067006045, + -73.6250361522207, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 117.47393048925119, + -75.1250361522207, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 114.87585427789787, + -76.6250361522207, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 112.27777806654456, + -78.1250361522207, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 109.67970185519124, + -79.6250361522207, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 107.08162564383792, + -81.1250361522207, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 104.48354943248461, + -82.6250361522207, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 101.88547322113129, + -84.1250361522207, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 99.28739700977798, + -85.6250361522207, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 96.68932079842466, + -87.1250361522207, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -104.0, + 98.3909 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-30-9_336465782/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-30-9_336465782/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ea7ef82b373decc27747d56906c35569485c29c --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-30-9_336465782/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -217.1855646867486, + -171.450975679881, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -214.1855646867486, + -171.450975679881, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -211.1855646867486, + -171.450975679881, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -208.1855646867486, + -171.450975679881, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -205.1855646867486, + -171.450975679881, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -205.1855646867486, + -171.450975679881, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -205.1855646867486, + -171.450975679881, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -203.6855646867486, + -174.0490518912343, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -202.1855646867486, + -176.64712810258763, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -200.6855646867486, + -179.24520431394095, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -199.1855646867486, + -181.84328052529426, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -197.6855646867486, + -184.44135673664758, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -196.1855646867486, + -187.0394329480009, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -208.0, + 90.3045 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-32-12_635723058/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-32-12_635723058/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b8efd0e55d148493e2dfde0d6d273badab06b2ed --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-32-12_635723058/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 92.35078878354145, + -134.70457824946863, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 90.85078878354145, + -137.30265446082194, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 89.35078878354145, + -139.90073067217526, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 87.85078878354145, + -142.49880688352857, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 86.35078878354145, + -145.0968830948819, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 86.35078878354145, + -145.0968830948819, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 86.35078878354145, + -148.0968830948819, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 86.35078878354145, + -151.0968830948819, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 86.35078878354145, + -154.0968830948819, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 86.35078878354145, + -157.0968830948819, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 86.35078878354145, + -160.0968830948819, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 86.35078878354145, + -163.0968830948819, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 86.35078878354145, + -166.0968830948819, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 86.35078878354145, + -169.0968830948819, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 86.35078878354145, + -169.0968830948819, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 86.35078878354145, + -169.0968830948819, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 83.75271257218813, + -170.5968830948819, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 81.15463636083481, + -172.0968830948819, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 78.5565601494815, + -173.5968830948819, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 75.95848393812818, + -175.0968830948819, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 73.36040772677487, + -176.5968830948819, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 70.76233151542155, + -178.0968830948819, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 68.16425530406823, + -179.5968830948819, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 65.56617909271492, + -181.0968830948819, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 62.9681028813616, + -182.5968830948819, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 60.370026670008286, + -184.0968830948819, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 57.77195045865497, + -185.5968830948819, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + -200.0, + 93.7776 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-32-28_1369133069/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-32-28_1369133069/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ade4c57b86843e75ba463fab46b351e57ca43d3 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-32-28_1369133069/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -320.23994262493375, + -243.69806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -317.23994262493375, + -243.69806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -314.23994262493375, + -243.69806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -311.23994262493375, + -243.69806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -308.23994262493375, + -243.69806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -305.23994262493375, + -243.69806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -302.23994262493375, + -243.69806563790266, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -302.23994262493375, + -243.69806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -299.64186641358043, + -242.19806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -297.0437902022271, + -240.69806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -294.4457139908738, + -239.19806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -291.8476377795205, + -237.69806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -289.24956156816717, + -236.19806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -286.65148535681385, + -234.69806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -284.05340914546053, + -233.19806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -281.4553329341072, + -231.69806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -278.8572567227539, + -230.19806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -276.2591805114006, + -228.69806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -273.66110430004727, + -227.19806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -271.06302808869395, + -225.69806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -268.46495187734064, + -224.19806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -265.8668756659873, + -222.69806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -263.268799454634, + -221.19806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -260.6707232432807, + -219.69806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -258.0726470319274, + -218.19806563790266, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -255.47457082057406, + -216.69806563790266, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-33-5_2089018456/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-33-5_2089018456/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a0ebec008a8a0c5a99cf9e29960c964b3948149 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-33-5_2089018456/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -329.39848405945537, + -138.34160762861086, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -326.39848405945537, + -138.34160762861086, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -323.39848405945537, + -138.34160762861086, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -320.39848405945537, + -138.34160762861086, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -317.39848405945537, + -138.34160762861086, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -317.39848405945537, + -138.34160762861086, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -314.80040784810205, + -136.84160762861086, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -314.80040784810205, + -136.84160762861086, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -313.30040784810205, + -134.24353141725754, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -311.80040784810205, + -131.64545520590423, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -311.80040784810205, + -131.64545520590423, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -309.20233163674874, + -130.14545520590423, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -306.6042554253954, + -128.64545520590423, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -304.0061792140421, + -127.14545520590423, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -301.4081030026888, + -125.64545520590423, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -298.8100267913355, + -124.14545520590423, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -296.21195057998216, + -122.64545520590423, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -293.61387436862884, + -121.14545520590423, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -291.0157981572755, + -119.64545520590423, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -288.4177219459222, + -118.14545520590423, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -285.8196457345689, + -116.64545520590423, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -283.2215695232156, + -115.14545520590423, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -280.62349331186226, + -113.64545520590423, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -278.02541710050895, + -112.14545520590423, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -275.42734088915563, + -110.64545520590423, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -272.8292646778023, + -109.14545520590423, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -270.231188466449, + -107.64545520590423, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -244.0, + -96.0, + 98.8047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-34-11_859484421/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-34-11_859484421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f4ef350c42b928b9c3168095359df8d64faaa0ad --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-34-11_859484421/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 18.513583571234577, + 219.42394389269762, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 20.013583571234577, + 216.8258676813443, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 21.513583571234577, + 214.227791469991, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 23.013583571234577, + 211.62971525863767, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 24.513583571234577, + 209.03163904728436, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 26.013583571234577, + 206.43356283593104, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 27.513583571234577, + 203.83548662457773, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 29.013583571234577, + 201.2374104132244, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 30.513583571234577, + 198.6393342018711, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 32.01358357123458, + 196.04125799051778, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 33.51358357123458, + 193.44318177916446, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 35.01358357123458, + 190.84510556781115, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 36.51358357123458, + 188.24702935645783, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 38.01358357123458, + 185.6489531451045, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 39.51358357123458, + 183.0508769337512, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 41.01358357123458, + 180.45280072239788, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 42.51358357123458, + 177.85472451104457, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 44.01358357123458, + 175.25664829969125, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 45.51358357123458, + 172.65857208833793, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 47.01358357123458, + 170.06049587698462, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 48.51358357123458, + 167.4624196656313, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 48.51358357123458, + 167.4624196656313, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 48.51358357123458, + 164.4624196656313, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 48.51358357123458, + 161.4624196656313, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 48.51358357123458, + 158.4624196656313, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 48.51358357123458, + 155.4624196656313, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 60.0, + 136.0, + 91.3676 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-34-27_1914544919/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-34-27_1914544919/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..55e57c93709dd265194df49417ebc676f5b89d5e --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-34-27_1914544919/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 182.2104612271018, + -162.45363612982712, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 179.6123850157485, + -160.95363612982712, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 177.01430880439517, + -159.45363612982712, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 174.41623259304185, + -157.95363612982712, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 171.81815638168854, + -156.45363612982712, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 169.22008017033522, + -154.95363612982712, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 166.6220039589819, + -153.45363612982712, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 164.0239277476286, + -151.95363612982712, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 161.42585153627527, + -150.45363612982712, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 158.82777532492196, + -148.95363612982712, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 156.22969911356864, + -147.45363612982712, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 153.63162290221533, + -145.95363612982712, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 151.033546690862, + -144.45363612982712, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 148.4354704795087, + -142.95363612982712, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 145.83739426815538, + -141.45363612982712, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 143.23931805680206, + -139.95363612982712, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 143.23931805680206, + -139.95363612982712, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 141.73931805680206, + -137.3555599184738, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 140.23931805680206, + -134.75748370712049, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 138.73931805680206, + -132.15940749576717, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 137.23931805680206, + -129.56133128441385, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 135.73931805680206, + -126.96325507306054, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 134.23931805680206, + -124.36517886170722, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 132.73931805680206, + -121.7671026503539, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 132.73931805680206, + -121.7671026503539, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 130.14124184544875, + -120.2671026503539, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 127.54316563409543, + -118.7671026503539, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.0, + -104.0, + 98.4565 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-36-20_184803526/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-36-20_184803526/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..82fdd60def8f0160da065aae9fb3be8d9b8f8f3a --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-36-20_184803526/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 275.91865694619014, + -52.598912036899364, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 274.41865694619014, + -55.19698824825268, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 272.91865694619014, + -57.795064459605996, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 271.41865694619014, + -60.39314067095931, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 269.91865694619014, + -62.99121688231263, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 268.41865694619014, + -65.58929309366594, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 236.0, + -120.0, + 90.3048 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-36-40_1424268980/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-36-40_1424268980/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ea804927adc000dccdf6426db305baba343b4c49 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-36-40_1424268980/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -146.44281821492558, + -246.80515360713696, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -149.0408944262789, + -245.30515360713696, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -151.6389706376322, + -243.80515360713696, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -154.23704684898553, + -242.30515360713696, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -156.83512306033884, + -240.80515360713696, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -159.43319927169216, + -239.30515360713696, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -162.03127548304548, + -237.80515360713696, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -164.6293516943988, + -236.30515360713696, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -167.2274279057521, + -234.80515360713696, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -169.82550411710542, + -233.30515360713696, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -172.42358032845874, + -231.80515360713696, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -175.02165653981206, + -230.30515360713696, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -177.61973275116537, + -228.80515360713696, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -180.2178089625187, + -227.30515360713696, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -182.815885173872, + -225.80515360713696, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -185.41396138522532, + -224.30515360713696, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -188.01203759657864, + -222.80515360713696, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -190.61011380793195, + -221.30515360713696, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -190.61011380793195, + -221.30515360713696, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -193.61011380793195, + -221.30515360713696, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -196.61011380793195, + -221.30515360713696, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-37-30_42999170/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-37-30_42999170/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d5a02c59e5c2ba53f3096326408e1fe3763c1b8 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-37-30_42999170/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 176.87419730254527, + -83.54027819287322, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 174.27612109119195, + -82.04027819287322, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 171.67804487983864, + -80.54027819287322, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 169.07996866848532, + -79.04027819287322, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 166.481892457132, + -77.54027819287322, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 163.8838162457787, + -76.04027819287322, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 161.28574003442537, + -74.54027819287322, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 158.68766382307206, + -73.04027819287322, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 156.08958761171874, + -71.54027819287322, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 153.49151140036543, + -70.04027819287322, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 150.8934351890121, + -68.54027819287322, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 148.2953589776588, + -67.04027819287322, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 148.2953589776588, + -67.04027819287322, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 145.2953589776588, + -67.04027819287322, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 142.2953589776588, + -67.04027819287322, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 139.2953589776588, + -67.04027819287322, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 136.2953589776588, + -67.04027819287322, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 133.2953589776588, + -67.04027819287322, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 130.2953589776588, + -67.04027819287322, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 127.2953589776588, + -67.04027819287322, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 127.2953589776588, + -67.04027819287322, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 127.2953589776588, + -67.04027819287322, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 125.7953589776588, + -64.4422019815199, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 125.7953589776588, + -64.4422019815199, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 123.19728276630548, + -62.9422019815199, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 100.0, + -52.0, + 103.289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-37-46_982906996/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-37-46_982906996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..776eda5a8f74ef8e778a3511b42501e6983a07d6 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-37-46_982906996/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -78.13083125198145, + -224.2711396831943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -81.13083125198145, + -224.2711396831943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -84.13083125198145, + -224.2711396831943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -87.13083125198145, + -224.2711396831943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -90.13083125198145, + -224.2711396831943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -93.13083125198145, + -224.2711396831943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -96.13083125198145, + -224.2711396831943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -99.13083125198145, + -224.2711396831943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -102.13083125198145, + -224.2711396831943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -105.13083125198145, + -224.2711396831943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -108.13083125198145, + -224.2711396831943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -111.13083125198145, + -224.2711396831943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -114.13083125198145, + -224.2711396831943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -117.13083125198145, + -224.2711396831943, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -117.13083125198145, + -224.2711396831943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -119.72890746333476, + -222.7711396831943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -122.32698367468808, + -221.2711396831943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -124.9250598860414, + -219.7711396831943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -127.52313609739471, + -218.2711396831943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -130.12121230874803, + -216.7711396831943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -132.71928852010134, + -215.2711396831943, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -208.0, + 90.3045 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-39-18_572660336/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-39-18_572660336/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..196b5e262ebf587e5015217b84e2077c32171a8d --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-39-18_572660336/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -203.22660321888566, + 145.2494272282633, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -200.62852700753234, + 143.7494272282633, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -200.62852700753234, + 143.7494272282633, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -199.12852700753234, + 141.15135101690998, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -197.62852700753234, + 138.55327480555667, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -197.62852700753234, + 138.55327480555667, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -195.03045079617903, + 137.05327480555667, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -192.4323745848257, + 135.55327480555667, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -189.8342983734724, + 134.05327480555667, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -187.23622216211908, + 132.55327480555667, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -184.63814595076576, + 131.05327480555667, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -182.04006973941244, + 129.55327480555667, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -179.44199352805913, + 128.05327480555667, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -176.8439173167058, + 126.55327480555667, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -174.2458411053525, + 125.05327480555667, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -171.64776489399918, + 123.55327480555667, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -169.04968868264586, + 122.05327480555667, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -166.45161247129255, + 120.55327480555667, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -163.85353625993923, + 119.05327480555667, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -161.25546004858592, + 117.55327480555667, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -158.6573838372326, + 116.05327480555667, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -156.05930762587928, + 114.55327480555667, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -153.46123141452597, + 113.05327480555667, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 104.0, + 94.1833 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-39-35_1159126505/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-39-35_1159126505/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c361e41debd6ce7639b543b5ef06c52125f15003 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-39-35_1159126505/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 82.475661520324, + -185.84107216144724, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 85.07373773167731, + -184.34107216144724, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 87.67181394303063, + -182.84107216144724, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 90.26989015438394, + -181.34107216144724, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 92.86796636573726, + -179.84107216144724, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 95.46604257709058, + -178.34107216144724, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 98.06411878844389, + -176.84107216144724, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 100.66219499979721, + -175.34107216144724, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 103.26027121115052, + -173.84107216144724, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 105.85834742250384, + -172.34107216144724, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 108.45642363385716, + -170.84107216144724, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 108.45642363385716, + -170.84107216144724, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 109.95642363385716, + -168.24299595009393, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 111.45642363385716, + -165.6449197387406, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + -144.0, + 90.3044 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-40-10_1100661313/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-40-10_1100661313/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..86c5fc5089c172ddc22ec496d0f89bda88cb6724 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-40-10_1100661313/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 37.44231356820657, + 231.66160991266514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 37.44231356820657, + 228.66160991266514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 37.44231356820657, + 225.66160991266514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 37.44231356820657, + 222.66160991266514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 37.44231356820657, + 219.66160991266514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 37.44231356820657, + 216.66160991266514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 37.44231356820657, + 213.66160991266514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 37.44231356820657, + 210.66160991266514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 37.44231356820657, + 207.66160991266514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 37.44231356820657, + 204.66160991266514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 37.44231356820657, + 201.66160991266514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 37.44231356820657, + 198.66160991266514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 37.44231356820657, + 195.66160991266514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 37.44231356820657, + 192.66160991266514, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 37.44231356820657, + 192.66160991266514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 38.94231356820657, + 190.06353370131183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 40.44231356820657, + 187.4654574899585, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 41.94231356820657, + 184.8673812786052, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 43.44231356820657, + 182.26930506725188, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 44.94231356820657, + 179.67122885589856, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 46.44231356820657, + 177.07315264454525, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 47.94231356820657, + 174.47507643319193, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 49.44231356820657, + 171.8770002218386, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 50.94231356820657, + 169.2789240104853, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 52.44231356820657, + 166.68084779913198, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 53.94231356820657, + 164.08277158777867, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 55.44231356820657, + 161.48469537642535, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 55.44231356820657, + 161.48469537642535, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 55.44231356820657, + 158.48469537642535, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 60.0, + 136.0, + 91.3676 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-41-42_1548233367/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-41-42_1548233367/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d667580014db9f31d18ebbce74b6765b9103b1d6 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-41-42_1548233367/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 122.11798153523218, + -229.70816636606358, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 119.51990532387886, + -228.20816636606358, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 116.92182911252554, + -226.70816636606358, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 114.32375290117223, + -225.20816636606358, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 111.72567668981891, + -223.70816636606358, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 109.1276004784656, + -222.20816636606358, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 106.52952426711228, + -220.70816636606358, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 103.93144805575896, + -219.20816636606358, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 101.33337184440565, + -217.70816636606358, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 98.73529563305233, + -216.20816636606358, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 96.13721942169902, + -214.70816636606358, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 93.5391432103457, + -213.20816636606358, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 90.94106699899238, + -211.70816636606358, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 88.34299078763907, + -210.20816636606358, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 88.34299078763907, + -210.20816636606358, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 85.34299078763907, + -210.20816636606358, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 82.34299078763907, + -210.20816636606358, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 79.34299078763907, + -210.20816636606358, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 76.34299078763907, + -210.20816636606358, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 73.34299078763907, + -210.20816636606358, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 70.34299078763907, + -210.20816636606358, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + -200.0, + 93.7776 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-42-13_1585990364/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-42-13_1585990364/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..26ef7f5d864d999eddc16c1093bc8105207f976f --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-42-13_1585990364/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 137.38029262855756, + -280.17625643268025, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 138.88029262855756, + -277.57818022132693, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 140.38029262855756, + -274.9801040099736, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 141.88029262855756, + -272.3820277986203, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 143.38029262855756, + -269.783951587267, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 144.88029262855756, + -267.18587537591367, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 146.38029262855756, + -264.58779916456035, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 147.88029262855756, + -261.98972295320704, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 149.38029262855756, + -259.3916467418537, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 150.88029262855756, + -256.7935705305004, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 168.0, + -220.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-42-22_1374344043/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-42-22_1374344043/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20800b97f992beb37cb216506675fbdfd5b50bc9 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-42-22_1374344043/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 259.67831743404435, + -181.07530856519168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 262.27639364539766, + -182.57530856519168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 264.874469856751, + -184.07530856519168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 267.4725460681043, + -185.57530856519168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 270.0706222794576, + -187.07530856519168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 272.6686984908109, + -188.57530856519168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 275.26677470216424, + -190.07530856519168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 277.86485091351756, + -191.57530856519168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 280.4629271248709, + -193.07530856519168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 283.0610033362242, + -194.57530856519168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 285.6590795475775, + -196.07530856519168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 288.2571557589308, + -197.57530856519168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 290.85523197028414, + -199.07530856519168, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 290.85523197028414, + -199.07530856519168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 292.35523197028414, + -201.673384776545, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 293.85523197028414, + -204.2714609878983, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 295.35523197028414, + -206.86953719925162, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 296.85523197028414, + -209.46761341060494, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + -224.0, + 90.3059 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-42-34_760313750/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-42-34_760313750/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ffacbce84cc69d2b698cd92f507a156dddb810f9 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-42-34_760313750/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -185.6577217361062, + -53.8396155599124, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -188.2557979474595, + -55.3396155599124, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -190.85387415881283, + -56.8396155599124, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -193.45195037016614, + -58.3396155599124, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -196.05002658151946, + -59.8396155599124, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -198.64810279287278, + -61.3396155599124, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -201.2461790042261, + -62.8396155599124, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -203.8442552155794, + -64.3396155599124, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -206.44233142693272, + -65.8396155599124, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -209.04040763828604, + -67.3396155599124, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -211.63848384963936, + -68.8396155599124, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -211.63848384963936, + -68.8396155599124, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -213.13848384963936, + -71.43769177126572, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -214.63848384963936, + -74.03576798261903, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -244.0, + -96.0, + 98.8047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-43-30_1889947178/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-43-30_1889947178/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..df98ee725351380b2dcc3b620a048efa58d5fe6e --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-43-30_1889947178/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 71.19043607409517, + -181.21585014838752, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 73.78851228544849, + -179.71585014838752, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 76.3865884968018, + -178.21585014838752, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 78.98466470815512, + -176.71585014838752, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 81.58274091950844, + -175.21585014838752, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 84.18081713086175, + -173.71585014838752, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 86.77889334221507, + -172.21585014838752, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 89.37696955356839, + -170.71585014838752, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 89.37696955356839, + -170.71585014838752, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 90.87696955356839, + -168.1177739370342, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 92.37696955356839, + -165.51969772568089, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 93.87696955356839, + -162.92162151432757, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 95.37696955356839, + -160.32354530297425, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 96.87696955356839, + -157.72546909162094, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 98.37696955356839, + -155.12739288026762, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 99.87696955356839, + -152.5293166689143, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 99.87696955356839, + -152.5293166689143, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 99.87696955356839, + -149.5293166689143, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 99.87696955356839, + -146.5293166689143, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 99.87696955356839, + -143.5293166689143, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 99.87696955356839, + -140.5293166689143, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 99.87696955356839, + -137.5293166689143, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 99.87696955356839, + -134.5293166689143, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 99.87696955356839, + -131.5293166689143, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 99.87696955356839, + -128.5293166689143, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 99.87696955356839, + -125.5293166689143, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.0, + -104.0, + 98.4565 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-43-46_1780695788/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-43-46_1780695788/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf52d6cb4e62e2a8fa97258aeb6c6835bcbf327b --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-43-46_1780695788/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 100.53408611548653, + -240.11497230773085, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 97.93600990413321, + -238.61497230773085, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 95.3379336927799, + -237.11497230773085, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 92.73985748142658, + -235.61497230773085, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 90.14178127007327, + -234.11497230773085, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 87.54370505871995, + -232.61497230773085, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 84.94562884736663, + -231.11497230773085, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 82.34755263601332, + -229.61497230773085, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 79.74947642466, + -228.11497230773085, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 77.15140021330669, + -226.61497230773085, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 77.15140021330669, + -226.61497230773085, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 75.65140021330669, + -224.01689609637754, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 74.15140021330669, + -221.41881988502422, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 72.65140021330669, + -218.8207436736709, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + -200.0, + 93.7776 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-43-57_709393584/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-43-57_709393584/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..19209a1bc1d6caf56505365342897a604f0d74ed --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-43-57_709393584/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 88.92390770949163, + 222.0826273182596, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 87.42390770949163, + 219.48455110690628, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 85.92390770949163, + 216.88647489555296, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 84.42390770949163, + 214.28839868419965, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 82.92390770949163, + 211.69032247284633, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 81.42390770949163, + 209.09224626149302, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 79.92390770949163, + 206.4941700501397, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 78.42390770949163, + 203.89609383878638, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 76.92390770949163, + 201.29801762743307, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 75.42390770949163, + 198.69994141607975, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 73.92390770949163, + 196.10186520472644, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 72.42390770949163, + 193.50378899337312, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 70.92390770949163, + 190.9057127820198, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 69.42390770949163, + 188.3076365706665, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 67.92390770949163, + 185.70956035931317, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 66.42390770949163, + 183.11148414795986, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 64.92390770949163, + 180.51340793660654, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 64.92390770949163, + 180.51340793660654, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 64.92390770949163, + 177.51340793660654, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 64.92390770949163, + 174.51340793660654, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 64.92390770949163, + 171.51340793660654, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 64.92390770949163, + 168.51340793660654, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 64.92390770949163, + 165.51340793660654, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 64.92390770949163, + 162.51340793660654, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 64.92390770949163, + 159.51340793660654, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 64.92390770949163, + 156.51340793660654, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 60.0, + 136.0, + 91.3676 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-44-15_491705403/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-44-15_491705403/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20da5c2b45b6faf76185d7081aeea61059533751 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-44-15_491705403/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 122.90187845734773, + -184.72131861065193, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 119.90187845734773, + -184.72131861065193, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 116.90187845734773, + -184.72131861065193, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 113.90187845734773, + -184.72131861065193, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 110.90187845734773, + -184.72131861065193, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + -200.0, + 93.7776 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-44-22_1918502651/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-44-22_1918502651/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e74b2e95bc7b56f9fdc161c8d54919f8553c1f8a --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-44-22_1918502651/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -93.49001682859715, + -276.13053098029013, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -96.08809303995046, + -277.63053098029013, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -98.68616925130378, + -279.13053098029013, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -101.2842454626571, + -280.63053098029013, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -103.88232167401041, + -282.13053098029013, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -106.48039788536373, + -283.63053098029013, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -109.07847409671704, + -285.13053098029013, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -111.67655030807036, + -286.63053098029013, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -114.27462651942368, + -288.13053098029013, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -116.872702730777, + -289.63053098029013, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -119.47077894213031, + -291.13053098029013, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -119.47077894213031, + -291.13053098029013, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -122.47077894213031, + -291.13053098029013, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -125.47077894213031, + -291.13053098029013, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -128.47077894213032, + -291.13053098029013, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -131.47077894213032, + -291.13053098029013, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -300.0, + 151.838 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-45-17_1411549676/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-45-17_1411549676/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6413b256c20cc8162192b09d2c8d36cbd299dcd2 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-45-17_1411549676/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 96.86693476633758, + -140.55599357205446, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 95.36693476633758, + -143.15406978340778, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 93.86693476633758, + -145.7521459947611, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 92.36693476633758, + -148.3502222061144, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 90.86693476633758, + -150.94829841746773, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 89.36693476633758, + -153.54637462882104, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 87.86693476633758, + -156.14445084017436, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 86.36693476633758, + -158.74252705152767, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 86.36693476633758, + -158.74252705152767, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 86.36693476633758, + -161.74252705152767, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 86.36693476633758, + -164.74252705152767, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 86.36693476633758, + -167.74252705152767, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 86.36693476633758, + -170.74252705152767, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 86.36693476633758, + -170.74252705152767, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 86.36693476633758, + -170.74252705152767, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 83.76885855498426, + -172.24252705152767, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 81.17078234363095, + -173.74252705152767, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 78.57270613227763, + -175.24252705152767, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 75.97462992092431, + -176.74252705152767, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 73.376553709571, + -178.24252705152767, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 70.77847749821768, + -179.74252705152767, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 68.18040128686437, + -181.24252705152767, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 65.58232507551105, + -182.74252705152767, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 62.984248864157735, + -184.24252705152767, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 60.38617265280442, + -185.74252705152767, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + -200.0, + 93.7776 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-45-6_1264095060/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-45-6_1264095060/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aad6426d4161931e7fc6d803ac8ee8f574264efa --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-45-6_1264095060/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 109.25171155206819, + -150.94527457240622, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 107.75171155206819, + -148.3471983610529, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 106.25171155206819, + -145.7491221496996, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 104.75171155206819, + -143.15104593834627, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 103.25171155206819, + -140.55296972699296, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 101.75171155206819, + -137.95489351563964, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 100.25171155206819, + -135.35681730428632, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 98.75171155206819, + -132.758741092933, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 97.25171155206819, + -130.1606648815797, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 95.75171155206819, + -127.56258867022638, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 95.75171155206819, + -127.56258867022638, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 93.15363534071487, + -126.06258867022638, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 90.55555912936155, + -124.56258867022638, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 87.95748291800824, + -123.06258867022638, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 85.35940670665492, + -121.56258867022638, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -104.0, + 98.3909 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-47-18_463480570/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-47-18_463480570/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..852af9010f969287933da7f0d9f16023719de5bf --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-47-18_463480570/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 262.1958165868582, + -284.002413581417, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 260.6958165868582, + -281.4043373700637, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 259.1958165868582, + -278.80626115871036, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 257.6958165868582, + -276.20818494735704, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 256.1958165868582, + -273.6101087360037, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 254.6958165868582, + -271.0120325246504, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 253.1958165868582, + -268.4139563132971, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 253.1958165868582, + -268.4139563132971, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 253.1958165868582, + -265.4139563132971, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 253.1958165868582, + -262.4139563132971, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 253.1958165868582, + -259.4139563132971, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 253.1958165868582, + -256.4139563132971, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 244.0, + -224.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-47-47_1975960378/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-47-47_1975960378/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c8c66d97b50c746c3c404a96e3722ac40b72799 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-47-47_1975960378/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 126.22817381284865, + -232.6347784921798, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 126.22817381284865, + -229.6347784921798, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 126.22817381284865, + -226.6347784921798, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 126.22817381284865, + -223.6347784921798, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 126.22817381284865, + -220.6347784921798, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 126.22817381284865, + -217.6347784921798, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 126.22817381284865, + -214.6347784921798, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 126.22817381284865, + -211.6347784921798, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 126.22817381284865, + -208.6347784921798, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 126.22817381284865, + -205.6347784921798, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 126.22817381284865, + -202.6347784921798, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 126.22817381284865, + -199.6347784921798, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 126.22817381284865, + -196.6347784921798, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 126.22817381284865, + -193.6347784921798, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 126.22817381284865, + -193.6347784921798, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 127.72817381284865, + -191.0367022808265, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 129.22817381284867, + -188.43862606947317, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965936 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 130.72817381284867, + -185.84054985811986, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 132.22817381284867, + -183.24247364676654, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 133.72817381284867, + -180.64439743541323, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 135.22817381284867, + -178.0463212240599, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + -144.0, + 90.3044 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-47-4_1036140795/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-47-4_1036140795/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..97e0b1de549e6f1c886d83db8b314a5b185f5da9 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-47-4_1036140795/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -187.93236192857302, + 155.34998746202982, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -186.43236192857302, + 152.7519112506765, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -184.93236192857302, + 150.15383503932318, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -183.43236192857302, + 147.55575882796987, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -181.93236192857302, + 144.95768261661655, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -180.43236192857302, + 142.35960640526324, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -178.93236192857302, + 139.76153019390992, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -177.43236192857302, + 137.1634539825566, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -175.93236192857302, + 134.5653777712033, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -175.93236192857302, + 134.5653777712033, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -173.3342857172197, + 133.0653777712033, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -170.73620950586638, + 131.5653777712033, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -168.13813329451307, + 130.0653777712033, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -165.54005708315975, + 128.5653777712033, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -162.94198087180644, + 127.06537777120329, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -160.34390466045312, + 125.56537777120329, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -157.7458284490998, + 124.06537777120329, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -155.1477522377465, + 122.56537777120329, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -152.54967602639317, + 121.06537777120329, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -149.95159981503986, + 119.56537777120329, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 104.0, + 94.1833 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-48-44_927612902/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-48-44_927612902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5724d5f3c102e6a43bf22072c772ebf65355b3d8 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-48-44_927612902/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -184.47207731604715, + -251.70872588906417, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -185.97207731604715, + -254.30680210041749, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -187.47207731604715, + -256.9048783117708, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -188.97207731604715, + -259.5029545231241, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -190.47207731604715, + -262.10103073447743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -191.97207731604715, + -264.69910694583075, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -193.47207731604715, + -267.29718315718407, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -193.47207731604715, + -267.29718315718407, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -196.07015352740046, + -268.79718315718407, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -198.66822973875378, + -270.29718315718407, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -201.2663059501071, + -271.79718315718407, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -203.8643821614604, + -273.29718315718407, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -300.0, + 90.3047 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-49-26_660260756/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-49-26_660260756/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..970022a03471843073dc160d8998635e05c299e5 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-49-26_660260756/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -358.66659742321093, + -247.7038882011705, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -356.0685212118576, + -246.2038882011705, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -353.4704450005043, + -244.7038882011705, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -350.872368789151, + -243.2038882011705, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -348.27429257779767, + -241.7038882011705, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -345.67621636644435, + -240.2038882011705, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -343.07814015509103, + -238.7038882011705, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -340.4800639437377, + -237.2038882011705, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -337.8819877323844, + -235.7038882011705, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -335.2839115210311, + -234.2038882011705, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -332.68583530967777, + -232.7038882011705, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -330.08775909832445, + -231.2038882011705, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -327.48968288697114, + -229.7038882011705, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -324.8916066756178, + -228.2038882011705, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -300.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-49-2_603570492/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-49-2_603570492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..85bd6f12086589d16507aec889cf89c2b43bfb7a --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-49-2_603570492/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 120.68904969592515, + 141.14893846752076, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 117.68904969592515, + 141.14893846752076, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 114.68904969592515, + 141.14893846752076, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 111.68904969592515, + 141.14893846752076, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 108.68904969592515, + 141.14893846752076, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 105.68904969592515, + 141.14893846752076, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 102.68904969592515, + 141.14893846752076, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 99.68904969592515, + 141.14893846752076, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 96.68904969592515, + 141.14893846752076, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 93.68904969592515, + 141.14893846752076, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 93.68904969592515, + 141.14893846752076, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 91.09097348457183, + 139.64893846752076, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 88.49289727321852, + 138.14893846752076, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 60.0, + 136.0, + 91.3676 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-49-37_959997301/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-49-37_959997301/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..00e20fdda1f376b391a827fddaeba1d76aeb24be --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-49-37_959997301/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -238.69930629558212, + -253.26362679827517, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -236.1012300842288, + -254.76362679827517, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -233.5031538728755, + -256.26362679827514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982907 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -230.90507766152217, + -257.76362679827514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -228.30700145016885, + -259.26362679827514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -225.70892523881554, + -260.76362679827514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -223.11084902746222, + -262.26362679827514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -220.5127728161089, + -263.76362679827514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -217.9146966047556, + -265.26362679827514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -215.31662039340227, + -266.76362679827514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -212.71854418204896, + -268.26362679827514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -210.12046797069564, + -269.76362679827514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -207.52239175934233, + -271.26362679827514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -204.924315547989, + -272.76362679827514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -202.3262393366357, + -274.26362679827514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -199.72816312528238, + -275.76362679827514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -197.13008691392906, + -277.26362679827514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -194.53201070257575, + -278.76362679827514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -191.93393449122243, + -280.26362679827514, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -189.33585827986911, + -281.76362679827514, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -300.0, + 151.838 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-49-59_402724286/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-49-59_402724286/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9772ff3b100411a4ca54fd69137c12e4f4d35de7 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-49-59_402724286/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 272.40857510895944, + -290.0166047914014, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 270.90857510895944, + -287.4185285800481, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 269.40857510895944, + -284.82045236869476, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 267.90857510895944, + -282.22237615734144, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 266.40857510895944, + -279.6242999459881, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 264.90857510895944, + -277.0262237346348, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 263.40857510895944, + -274.4281475232815, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 261.90857510895944, + -271.8300713119282, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 260.40857510895944, + -269.23199510057486, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 258.90857510895944, + -266.63391888922155, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 258.90857510895944, + -266.63391888922155, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 258.90857510895944, + -263.63391888922155, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 258.90857510895944, + -260.63391888922155, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 258.90857510895944, + -257.63391888922155, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 244.0, + -224.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-50-30_894429689/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-50-30_894429689/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f4d6c0ea160019896fd692ff7641c5b55a54f424 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-50-30_894429689/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -184.45179230712455, + -112.80172554842008, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -187.04986851847787, + -111.30172554842008, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -189.64794472983118, + -109.80172554842008, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -192.2460209411845, + -108.30172554842008, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -194.8440971525378, + -106.80172554842008, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -197.44217336389113, + -105.30172554842008, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -197.44217336389113, + -105.30172554842008, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -200.44217336389113, + -105.30172554842008, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -203.44217336389113, + -105.30172554842008, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -206.44217336389113, + -105.30172554842008, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -209.44217336389113, + -105.30172554842008, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -244.0, + -96.0, + 98.8047 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-51-53_2114738097/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-51-53_2114738097/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..510b8fc385920fedb45e25286054aec6ee387cfa --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-51-53_2114738097/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 74.33677659938296, + 198.0545687982879, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 72.83677659938296, + 195.4564925869346, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 71.33677659938296, + 192.85841637558127, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 69.83677659938296, + 190.26034016422796, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 68.33677659938296, + 187.66226395287464, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 66.83677659938296, + 185.06418774152132, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 65.33677659938296, + 182.466111530168, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 65.33677659938296, + 182.466111530168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 65.33677659938296, + 179.466111530168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 65.33677659938296, + 176.466111530168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 65.33677659938296, + 173.466111530168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 65.33677659938296, + 170.466111530168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 65.33677659938296, + 167.466111530168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 65.33677659938296, + 164.466111530168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 65.33677659938296, + 161.466111530168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 65.33677659938296, + 158.466111530168, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 65.33677659938296, + 155.466111530168, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 60.0, + 136.0, + 91.3676 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-52-22_822890675/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-52-22_822890675/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99a681eefbee9a1b1901174108cd1da66632b163 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-52-22_822890675/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 114.85133347522488, + 70.69593177937011, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 113.35133347522488, + 73.29400799072343, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 111.85133347522488, + 75.89208420207675, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 110.35133347522488, + 78.49016041343006, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 108.85133347522488, + 81.08823662478338, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 107.35133347522488, + 83.6863128361367, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 105.85133347522488, + 86.28438904749001, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 104.35133347522488, + 88.88246525884333, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 102.85133347522488, + 91.48054147019664, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 102.85133347522488, + 91.48054147019664, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 100.25325726387156, + 92.98054147019664, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 97.65518105251824, + 94.48054147019664, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 95.05710484116493, + 95.98054147019664, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 92.45902862981161, + 97.48054147019664, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 89.8609524184583, + 98.98054147019664, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 60.0, + 136.0, + 91.3676 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-54-13_269455306/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-54-13_269455306/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7d55fb2fb37ebf0a987bcc9b9f2cce36b47c31c9 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-54-13_269455306/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 20.718847853134974, + -9.591338337936051, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 23.718847853134974, + -9.591338337936051, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 26.718847853134974, + -9.591338337936051, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 29.718847853134974, + -9.591338337936051, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 32.718847853134974, + -9.591338337936051, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 35.718847853134974, + -9.591338337936051, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 38.718847853134974, + -9.591338337936051, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 41.718847853134974, + -9.591338337936051, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 44.718847853134974, + -9.591338337936051, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 44.718847853134974, + -9.591338337936051, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 44.718847853134974, + -9.591338337936051, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 46.218847853134974, + -12.189414549289367, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 47.718847853134974, + -14.787490760642683, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 49.218847853134974, + -17.385566971996, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 50.718847853134974, + -19.983643183349315, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 52.218847853134974, + -22.58171939470263, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 53.718847853134974, + -25.179795606055947, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 55.218847853134974, + -27.777871817409263, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 56.718847853134974, + -30.37594802876258, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 56.718847853134974, + -30.37594802876258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 59.31692406448829, + -31.87594802876258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 61.91500027584161, + -33.37594802876258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 64.51307648719492, + -34.87594802876258, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 100.0, + -52.0, + 103.289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-54-42_352406219/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-54-42_352406219/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53e9e8bd2a028579f2ec14775788ae153166b8bf --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-54-42_352406219/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 276.4274595219788, + -185.05274946901966, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 274.9274595219788, + -182.45467325766634, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 273.4274595219788, + -179.85659704631303, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 236.0, + -120.0, + 90.3048 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-54-56_160051528/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-54-56_160051528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb979ef679a1f29c897bcf5c512173bbf13ad609 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-54-56_160051528/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 213.1683057090681, + 215.14605222193273, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 213.1683057090681, + 212.14605222193273, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 213.1683057090681, + 209.14605222193273, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 213.1683057090681, + 206.14605222193273, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 213.1683057090681, + 203.14605222193273, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 213.1683057090681, + 200.14605222193273, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 213.1683057090681, + 197.14605222193273, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 213.1683057090681, + 194.14605222193273, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 213.1683057090681, + 191.14605222193273, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 213.1683057090681, + 188.14605222193273, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 213.1683057090681, + 185.14605222193273, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 213.1683057090681, + 182.14605222193273, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 213.1683057090681, + 179.14605222193273, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 212.0, + 120.0, + 101.521 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-57-12_1373226340/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-57-12_1373226340/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f15beb6579fbe19429073af376bd991010bf1b7 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-57-12_1373226340/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 182.39026650954457, + -94.39807060035038, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 180.89026650954457, + -96.9961468117037, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 179.39026650954457, + -99.59422302305701, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 177.89026650954457, + -102.19229923441033, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 176.39026650954457, + -104.79037544576364, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 174.89026650954457, + -107.38845165711696, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 173.39026650954457, + -109.98652786847028, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 171.89026650954457, + -112.58460407982359, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 171.89026650954457, + -112.58460407982359, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 169.29219029819126, + -114.08460407982359, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 166.69411408683794, + -115.58460407982359, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 164.09603787548463, + -117.08460407982359, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 161.4979616641313, + -118.58460407982359, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + -144.0, + 90.3044 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-57-35_200747796/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-57-35_200747796/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f15ce468bc2984ebf0b9a70985d8891fdc5e54a --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-57-35_200747796/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 45.8974157207057, + 210.02919167165743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 45.8974157207057, + 207.02919167165743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 45.8974157207057, + 204.02919167165743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 45.8974157207057, + 201.02919167165743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 45.8974157207057, + 198.02919167165743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 45.8974157207057, + 195.02919167165743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 45.8974157207057, + 192.02919167165743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 45.8974157207057, + 189.02919167165743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 45.8974157207057, + 186.02919167165743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 45.8974157207057, + 183.02919167165743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 45.8974157207057, + 180.02919167165743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 45.8974157207057, + 177.02919167165743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 45.8974157207057, + 174.02919167165743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 45.8974157207057, + 171.02919167165743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 45.8974157207057, + 168.02919167165743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 45.8974157207057, + 165.02919167165743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 45.8974157207057, + 162.02919167165743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 45.8974157207057, + 159.02919167165743, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 45.8974157207057, + 159.02919167165743, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 45.8974157207057, + 159.02919167165743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 48.49549193205902, + 157.52919167165743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 51.093568143412334, + 156.02919167165743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 53.69164435476565, + 154.52919167165743, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 60.0, + 136.0, + 91.3676 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-57-51_289700723/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-57-51_289700723/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ebc596e6a7cba88c81712f60a399cbead1789c8b --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_20-57-51_289700723/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -197.420948928191, + -31.44958451698862, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -200.420948928191, + -31.44958451698862, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -203.420948928191, + -31.44958451698862, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -206.420948928191, + -31.44958451698862, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -209.420948928191, + -31.44958451698862, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -212.420948928191, + -31.44958451698862, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -215.420948928191, + -31.44958451698862, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -264.0, + -32.0, + 98.3205 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-0-35_269441500/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-0-35_269441500/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..404693eb1b146bbaadfc40e79262eed6d507f1a8 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-0-35_269441500/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -196.06506543467486, + -248.88345353956726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -197.56506543467486, + -251.48152975092057, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -199.06506543467486, + -254.0796059622739, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -200.56506543467486, + -256.6776821736272, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -202.06506543467486, + -259.2757583849805, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -203.56506543467486, + -261.87383459633384, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -205.06506543467486, + -264.47191080768715, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -206.56506543467486, + -267.06998701904047, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -208.06506543467486, + -269.6680632303938, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -209.56506543467486, + -272.2661394417471, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -300.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-1-38_8936987/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-1-38_8936987/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..26fd01a3747f2c5f5ab1432d879c95a1857afc0b --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-1-38_8936987/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 168.57549698021262, + -255.26122501716216, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 171.57549698021262, + -255.26122501716216, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 174.57549698021262, + -255.26122501716216, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 177.57549698021262, + -255.26122501716216, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 180.57549698021262, + -255.26122501716216, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 183.57549698021262, + -255.26122501716216, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 186.57549698021262, + -255.26122501716216, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 189.57549698021262, + -255.26122501716216, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 192.57549698021262, + -255.26122501716216, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 195.57549698021262, + -255.26122501716216, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 198.57549698021262, + -255.26122501716216, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 201.57549698021262, + -255.26122501716216, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 204.57549698021262, + -255.26122501716216, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 204.57549698021262, + -255.26122501716216, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 204.57549698021262, + -255.26122501716216, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 206.07549698021262, + -252.66314880580885, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 207.57549698021262, + -250.06507259445553, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 209.07549698021262, + -247.4669963831022, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 210.57549698021262, + -244.8689201717489, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 212.07549698021262, + -242.27084396039558, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 213.57549698021262, + -239.67276774904226, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 215.07549698021262, + -237.07469153768895, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 244.0, + -224.0, + 90.3047 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-10-57_492067917/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-10-57_492067917/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0878bbf2c37e1a2732cad1daa34d40e45b0ef0dd --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-10-57_492067917/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -223.2082037980661, + 107.62329898622818, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -220.2082037980661, + 107.62329898622818, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -217.2082037980661, + 107.62329898622818, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -214.2082037980661, + 107.62329898622818, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -211.2082037980661, + 107.62329898622818, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -208.2082037980661, + 107.62329898622818, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -205.2082037980661, + 107.62329898622818, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -202.2082037980661, + 107.62329898622818, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -199.2082037980661, + 107.62329898622818, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -196.2082037980661, + 107.62329898622818, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -193.2082037980661, + 107.62329898622818, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -190.2082037980661, + 107.62329898622818, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 104.0, + 94.1833 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-11-44_496987743/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-11-44_496987743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5c2bec4037ec2a39584dfb742fe917699b283d6b --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-11-44_496987743/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -357.24264977635266, + 1.9376084209470008, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -354.24264977635266, + 1.9376084209470008, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -351.24264977635266, + 1.9376084209470008, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -348.24264977635266, + 1.9376084209470008, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -345.24264977635266, + 1.9376084209470008, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -342.24264977635266, + 1.9376084209470008, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -339.24264977635266, + 1.9376084209470008, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -339.24264977635266, + 1.9376084209470008, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -336.64457356499935, + 0.43760842094700103, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -334.04649735364603, + -1.0623915790529987, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -331.4484211422927, + -2.5623915790529983, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -328.8503449309394, + -4.062391579052998, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -326.2522687195861, + -5.562391579052998, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -323.65419250823277, + -7.062391579052998, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -321.05611629687945, + -8.562391579052997, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982986 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -318.45804008552614, + -10.062391579052997, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -315.8599638741728, + -11.562391579052997, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -313.2618876628195, + -13.062391579052997, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -264.0, + -32.0, + 98.3205 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-11-7_1504569917/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-11-7_1504569917/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1d2e204f78f23e8daf32ec546795e5abcd6827f --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-11-7_1504569917/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 264.7102444092566, + -191.9706537003446, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 263.2102444092566, + -189.37257748899128, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 261.7102444092566, + -186.77450127763797, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 260.2102444092566, + -184.17642506628465, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 258.7102444092566, + -181.57834885493133, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 257.2102444092566, + -178.98027264357802, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 236.0, + -120.0, + 90.3048 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-12-15_480298490/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-12-15_480298490/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb89fe2048c92de662871779884da7af6639b0ab --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-12-15_480298490/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -313.8739132163393, + -118.84377819070713, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -310.8739132163393, + -118.84377819070713, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -307.8739132163393, + -118.84377819070713, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -304.8739132163393, + -118.84377819070713, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -301.8739132163393, + -118.84377819070713, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -298.8739132163393, + -118.84377819070713, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -295.8739132163393, + -118.84377819070713, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -292.8739132163393, + -118.84377819070713, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -289.8739132163393, + -118.84377819070713, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -289.8739132163393, + -118.84377819070713, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -287.275837004986, + -117.34377819070713, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -284.6777607936327, + -115.84377819070713, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -282.07968458227936, + -114.34377819070713, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -279.48160837092604, + -112.84377819070713, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -276.8835321595727, + -111.34377819070713, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -274.2854559482194, + -109.84377819070713, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -271.6873797368661, + -108.34377819070713, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -269.0893035255128, + -106.84377819070713, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -266.49122731415946, + -105.34377819070713, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -244.0, + -96.0, + 98.8047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-12-29_1398295499/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-12-29_1398295499/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0ee7726417cfa4cec9bde9755e318bcd5894641 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-12-29_1398295499/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -181.56178251682732, + -251.8022995256095, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -184.15985872818064, + -250.3022995256095, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -186.75793493953395, + -248.8022995256095, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -189.35601115088727, + -247.3022995256095, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -191.95408736224059, + -245.8022995256095, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -191.95408736224059, + -245.8022995256095, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -193.45408736224059, + -243.20422331425618, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -194.95408736224059, + -240.60614710290287, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -196.45408736224059, + -238.00807089154955, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-12-39_1096689772/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-12-39_1096689772/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b6c4b972cf91eafddf5fe82239b5e5f3b530609 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-12-39_1096689772/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -297.22715156094773, + -248.89023310852258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -294.6290753495944, + -247.39023310852258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -292.0309991382411, + -245.89023310852258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -289.4329229268878, + -244.39023310852258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -286.83484671553447, + -242.89023310852258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -284.23677050418115, + -241.39023310852258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -281.63869429282784, + -239.89023310852258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -279.0406180814745, + -238.39023310852258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -276.4425418701212, + -236.89023310852258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -273.8444656587679, + -235.39023310852258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -271.2463894474146, + -233.89023310852258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -268.64831323606126, + -232.39023310852258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -266.05023702470794, + -230.89023310852258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -263.4521608133546, + -229.39023310852258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -260.8540846020013, + -227.89023310852258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -258.256008390648, + -226.39023310852258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -255.65793217929468, + -224.89023310852258, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-12-51_2086206725/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-12-51_2086206725/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..baeedfc679b2fc027d9bc19b018939d2564a28ca --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-12-51_2086206725/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 47.83274507570947, + -284.506080036611, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 47.83274507570947, + -281.506080036611, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 47.83274507570947, + -278.506080036611, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 47.83274507570947, + -275.506080036611, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 47.83274507570947, + -272.506080036611, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 47.83274507570947, + -269.506080036611, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 47.83274507570947, + -266.506080036611, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 47.83274507570947, + -263.506080036611, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 47.83274507570947, + -260.506080036611, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 47.83274507570947, + -257.506080036611, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 47.83274507570947, + -254.50608003661102, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 47.83274507570947, + -251.50608003661102, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 47.83274507570947, + -248.50608003661102, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 47.83274507570947, + -245.50608003661102, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 47.83274507570947, + -242.50608003661102, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 47.83274507570947, + -239.50608003661102, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 47.83274507570947, + -236.50608003661102, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 47.83274507570947, + -233.50608003661102, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 47.83274507570947, + -230.50608003661102, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 47.83274507570947, + -227.50608003661102, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 47.83274507570947, + -224.50608003661102, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + -200.0, + 93.7776 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-13-54_1012502954/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-13-54_1012502954/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e3b7c365faf7b2cafd7797adcc00d60b5dfda752 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-13-54_1012502954/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 119.22079853756325, + 76.87020396398546, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 116.62272232620994, + 78.37020396398546, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 114.02464611485662, + 79.87020396398546, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 111.4265699035033, + 81.37020396398546, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 108.82849369214999, + 82.87020396398546, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 106.23041748079667, + 84.37020396398546, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 106.23041748079667, + 84.37020396398546, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 104.73041748079667, + 86.96828017533878, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 103.23041748079667, + 89.56635638669209, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 101.73041748079667, + 92.16443259804541, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 100.23041748079667, + 94.76250880939872, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 98.73041748079667, + 97.36058502075204, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 97.23041748079667, + 99.95866123210536, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 60.0, + 136.0, + 91.3676 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-14-18_2027907669/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-14-18_2027907669/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..acbbeb2c2b9e1ac082818f2f2b2aa6972b05e083 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-14-18_2027907669/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 245.80808914878378, + -270.3773716488647, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 243.21001293743046, + -268.8773716488647, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 240.61193672607715, + -267.3773716488647, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 238.01386051472383, + -265.8773716488647, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 235.41578430337051, + -264.3773716488647, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 232.8177080920172, + -262.8773716488647, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 230.21963188066388, + -261.3773716488647, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 227.62155566931057, + -259.8773716488647, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 225.02347945795725, + -258.3773716488647, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 222.42540324660393, + -256.8773716488647, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 219.82732703525062, + -255.3773716488647, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 217.2292508238973, + -253.8773716488647, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 214.631174612544, + -252.3773716488647, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 212.03309840119067, + -250.8773716488647, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 209.43502218983735, + -249.3773716488647, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 206.83694597848404, + -247.8773716488647, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 206.83694597848404, + -247.8773716488647, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 205.33694597848404, + -245.2792954375114, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 203.83694597848404, + -242.68121922615808, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 168.0, + -220.0, + 90.3047 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-14-5_1272469786/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-14-5_1272469786/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..613faa31ac454146ba2638cfc9112880660da39d --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-14-5_1272469786/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 129.88623074308714, + -63.94907643919366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 129.88623074308714, + -66.94907643919366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 129.88623074308714, + -69.94907643919366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 129.88623074308714, + -72.94907643919366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 129.88623074308714, + -75.94907643919366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 129.88623074308714, + -78.94907643919366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 129.88623074308714, + -81.94907643919366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 129.88623074308714, + -84.94907643919366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 129.88623074308714, + -87.94907643919366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 129.88623074308714, + -90.94907643919366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 129.88623074308714, + -93.94907643919366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 129.88623074308714, + -96.94907643919366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 129.88623074308714, + -99.94907643919366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 129.88623074308714, + -102.94907643919366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 129.88623074308714, + -105.94907643919366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 129.88623074308714, + -108.94907643919366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 129.88623074308714, + -111.94907643919366, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 129.88623074308714, + -111.94907643919366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 131.38623074308714, + -114.54715265054698, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 132.88623074308714, + -117.14522886190029, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 134.38623074308714, + -119.74330507325361, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + -144.0, + 90.3044 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-15-17_933110197/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-15-17_933110197/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..98e0837942a408fe4139310d0b8c5286969334c2 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-15-17_933110197/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 239.4366679396516, + -273.3437752406131, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 242.03474415100493, + -271.8437752406131, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 244.63282036235825, + -270.3437752406131, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 247.23089657371156, + -268.8437752406131, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 249.82897278506488, + -267.3437752406131, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 252.4270489964182, + -265.8437752406131, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 255.0251252077715, + -264.3437752406131, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 257.6232014191248, + -262.8437752406131, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 260.22127763047814, + -261.3437752406131, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 262.81935384183146, + -259.8437752406131, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 265.4174300531848, + -258.3437752406131, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 268.0155062645381, + -256.8437752406131, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 270.6135824758914, + -255.34377524061313, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 273.2116586872447, + -253.84377524061313, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 275.80973489859804, + -252.34377524061313, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 278.40781110995135, + -250.84377524061313, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 281.00588732130467, + -249.34377524061313, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 283.603963532658, + -247.84377524061313, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 286.2020397440113, + -246.34377524061313, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 288.8001159553646, + -244.84377524061313, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 291.39819216671793, + -243.34377524061313, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 293.99626837807125, + -241.84377524061313, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 296.59434458942457, + -240.34377524061313, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 296.59434458942457, + -240.34377524061313, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 298.09434458942457, + -237.7456990292598, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + -224.0, + 90.3059 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-16-0_1285228804/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-16-0_1285228804/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c0dedb423e3e8d57ca68858b7849f294f37d7956 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-16-0_1285228804/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -77.89899924554518, + 44.681758312353594, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -79.39899924554518, + 47.27983452370691, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -80.89899924554518, + 49.877910735060226, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -82.39899924554518, + 52.47598694641354, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -83.89899924554518, + 55.07406315776686, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -85.39899924554518, + 57.672139369120174, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -85.39899924554518, + 57.672139369120174, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -87.9970754568985, + 59.172139369120174, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -90.59515166825182, + 60.672139369120174, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -93.19322787960513, + 62.172139369120174, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -95.79130409095845, + 63.672139369120174, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 104.0, + 94.1833 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-16-21_502278611/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-16-21_502278611/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..029b1b6268159e08f6b06820b6335980e409917f --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-16-21_502278611/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -224.71395052568352, + 138.3757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -221.71395052568352, + 138.3757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -218.71395052568352, + 138.3757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -215.71395052568352, + 138.3757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -212.71395052568352, + 138.3757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -209.71395052568352, + 138.3757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -206.71395052568352, + 138.3757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -203.71395052568352, + 138.3757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -200.71395052568352, + 138.3757100292726, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -200.71395052568352, + 138.3757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -198.1158743143302, + 136.8757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -195.51779810297688, + 135.3757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -192.91972189162357, + 133.8757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -190.32164568027025, + 132.3757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -187.72356946891693, + 130.8757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -185.12549325756362, + 129.3757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -182.5274170462103, + 127.8757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -179.929340834857, + 126.3757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -177.33126462350367, + 124.8757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -174.73318841215035, + 123.3757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -172.13511220079704, + 121.8757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -169.53703598944372, + 120.3757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -166.9389597780904, + 118.8757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -164.3408835667371, + 117.3757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -161.74280735538377, + 115.8757100292726, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -159.14473114403046, + 114.3757100292726, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 104.0, + 94.1833 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-16-9_1789376348/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-16-9_1789376348/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb4a52e0a34b1e715276e2fef244abfff908b143 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-16-9_1789376348/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 92.93217512722444, + -257.50573321873753, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 91.43217512722444, + -254.90765700738422, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 89.93217512722444, + -252.3095807960309, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 88.43217512722444, + -249.71150458467758, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 86.93217512722444, + -247.11342837332427, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 85.43217512722444, + -244.51535216197095, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 83.93217512722444, + -241.91727595061764, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 82.43217512722444, + -239.31919973926432, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 80.93217512722444, + -236.721123527911, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 79.43217512722444, + -234.1230473165577, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 77.93217512722444, + -231.52497110520437, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 77.93217512722444, + -231.52497110520437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 75.33409891587112, + -230.02497110520437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 72.73602270451781, + -228.52497110520437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 70.13794649316449, + -227.02497110520437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 67.53987028181118, + -225.52497110520437, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + -200.0, + 93.7776 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-18-21_87755422/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-18-21_87755422/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b84599aa314055055d0929b0301a2ba074c35e9f --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-18-21_87755422/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 104.27092129015165, + -178.78525976772633, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 106.86899750150496, + -180.28525976772633, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 109.46707371285828, + -181.78525976772633, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 112.0651499242116, + -183.28525976772633, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 114.66322613556491, + -184.78525976772633, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 117.26130234691823, + -186.28525976772633, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 168.0, + -220.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-19-11_1369321801/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-19-11_1369321801/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..944f45c72f02bee4471bf859fc0d81e9c0eb4cf1 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-19-11_1369321801/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -309.5578122838957, + -171.47085589793943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -306.9597360725424, + -172.97085589793943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -304.3616598611891, + -174.47085589793943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -301.76358364983577, + -175.97085589793943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -299.16550743848245, + -177.47085589793943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -296.56743122712913, + -178.97085589793943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -293.9693550157758, + -180.47085589793943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -291.3712788044225, + -181.97085589793943, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -288.7732025930692, + -183.47085589793943, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-19-21_745425661/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-19-21_745425661/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b07532f7adbe735afa65a0397af055f303055d8 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-19-21_745425661/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 80.06779783561106, + -178.8344879338165, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 82.66587404696438, + -180.3344879338165, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 85.26395025831769, + -181.8344879338165, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 87.86202646967101, + -183.3344879338165, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 90.46010268102432, + -184.8344879338165, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 93.05817889237764, + -186.3344879338165, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 95.65625510373096, + -187.8344879338165, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 168.0, + -220.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-19-55_1346811305/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-19-55_1346811305/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b95c91c49c6ab4a22d5a498fb24a02391f22b1a3 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-19-55_1346811305/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 244.01896866467735, + -269.6190441800288, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 246.61704487603066, + -268.1190441800288, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 249.21512108738398, + -266.6190441800288, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 251.8131972987373, + -265.1190441800288, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 254.4112735100906, + -263.6190441800288, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 257.0093497214439, + -262.1190441800288, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 259.60742593279724, + -260.6190441800288, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 262.20550214415056, + -259.1190441800288, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 264.8035783555039, + -257.6190441800288, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 267.4016545668572, + -256.1190441800288, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 269.9997307782105, + -254.61904418002882, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 272.5978069895638, + -253.11904418002882, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 275.19588320091714, + -251.61904418002882, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 277.79395941227045, + -250.11904418002882, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 280.39203562362377, + -248.61904418002882, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 282.9901118349771, + -247.11904418002882, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 285.5881880463304, + -245.61904418002882, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 288.1862642576837, + -244.11904418002882, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 290.78434046903703, + -242.61904418002882, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 293.38241668039035, + -241.11904418002882, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 295.98049289174367, + -239.61904418002882, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 298.578569103097, + -238.11904418002882, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + -224.0, + 90.3059 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-2-38_350322227/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-2-38_350322227/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..efffa5cea0f03d862cc4c856ca15b0db6adfb8cb --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-2-38_350322227/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 53.04022194494276, + -131.75540316109212, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 54.54022194494276, + -129.1573269497388, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 56.04022194494276, + -126.55925073838549, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 57.54022194494276, + -123.96117452703217, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 59.04022194494276, + -121.36309831567885, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 60.54022194494276, + -118.76502210432554, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 62.04022194494276, + -116.16694589297222, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 63.54022194494276, + -113.5688696816189, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 65.04022194494276, + -110.97079347026559, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 66.54022194494276, + -108.37271725891227, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 68.04022194494276, + -105.77464104755896, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 69.54022194494276, + -103.17656483620564, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 71.04022194494276, + -100.57848862485233, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 72.54022194494276, + -97.98041241349901, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 74.04022194494276, + -95.3823362021457, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 75.54022194494276, + -92.78425999079238, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 77.04022194494276, + -90.18618377943906, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 78.54022194494276, + -87.58810756808575, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 80.04022194494276, + -84.99003135673243, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 81.54022194494276, + -82.39195514537911, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 83.04022194494276, + -79.7938789340258, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 83.04022194494276, + -79.7938789340258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 85.63829815629607, + -78.2938789340258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 88.23637436764939, + -76.7938789340258, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 88.23637436764939, + -76.7938789340258, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 88.23637436764939, + -76.7938789340258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 88.23637436764939, + -73.7938789340258, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 88.23637436764939, + -70.7938789340258, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 100.0, + -52.0, + 103.289 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-2-56_841148365/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-2-56_841148365/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d5a737f5991e956ef38b96bbae378fe054abcc86 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-2-56_841148365/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 262.1784634037917, + -181.98663476441814, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 264.776539615145, + -183.48663476441814, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 267.3746158264983, + -184.98663476441814, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 269.97269203785163, + -186.48663476441814, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 272.57076824920495, + -187.98663476441814, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 275.16884446055826, + -189.48663476441814, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 277.7669206719116, + -190.98663476441814, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 280.3649968832649, + -192.48663476441814, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 282.9630730946182, + -193.98663476441814, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 285.5611493059715, + -195.48663476441814, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 288.15922551732484, + -196.98663476441814, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 290.75730172867816, + -198.48663476441814, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 290.75730172867816, + -198.48663476441814, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 292.25730172867816, + -201.08471097577146, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 293.75730172867816, + -203.68278718712477, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 295.25730172867816, + -206.2808633984781, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 296.75730172867816, + -208.8789396098314, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + -224.0, + 90.3059 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-21-1_1977648522/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-21-1_1977648522/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1169f6aaa1519b2722ed5d99d389ef14f1cfdd5b --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-21-1_1977648522/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -45.84029096485045, + -229.35605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -42.84029096485045, + -229.35605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -39.84029096485045, + -229.35605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -36.84029096485045, + -229.35605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -33.84029096485045, + -229.35605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -30.840290964850453, + -229.35605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -27.840290964850453, + -229.35605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -24.840290964850453, + -229.35605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -21.840290964850453, + -229.35605014083592, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -21.840290964850453, + -229.35605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -19.242214753497137, + -227.85605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -16.64413854214382, + -226.35605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -14.046062330790505, + -224.85605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -11.44798611943719, + -223.35605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -8.849909908083873, + -221.85605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -6.251833696730557, + -220.35605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -3.653757485377241, + -218.85605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1.0556812740239252, + -217.35605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1.5423949373293908, + -215.85605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4.140471148682707, + -214.35605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 6.738547360036023, + -212.85605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 9.336623571389339, + -211.35605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 11.934699782742655, + -209.85605014083592, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 14.53277599409597, + -208.35605014083592, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + -200.0, + 93.7776 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-22-21_1884167637/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-22-21_1884167637/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2105d93c714bfad3561911531dcdc1d812deb17b --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-22-21_1884167637/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 111.13793259561967, + -84.75799247908019, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 112.63793259561967, + -87.3560686904335, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 114.13793259561967, + -89.95414490178682, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 115.63793259561967, + -92.55222111314013, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 117.13793259561967, + -95.15029732449345, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 118.63793259561967, + -97.74837353584677, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 120.13793259561967, + -100.34644974720008, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 121.63793259561967, + -102.9445259585534, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 123.13793259561967, + -105.54260216990671, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 124.63793259561967, + -108.14067838126003, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 126.13793259561967, + -110.73875459261335, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 127.63793259561967, + -113.33683080396666, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 127.63793259561967, + -113.33683080396666, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 127.63793259561967, + -116.33683080396666, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 127.63793259561967, + -119.33683080396666, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + -144.0, + 90.3044 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-22-50_201305624/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-22-50_201305624/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a70b14b9682c8ed20b8d49551a44a60997cfee8 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-22-50_201305624/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -181.06887510810998, + 45.5960759002772, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -179.56887510810998, + 48.194152111630515, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -178.06887510810998, + 50.79222832298383, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -176.56887510810998, + 53.39030453433715, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -175.06887510810998, + 55.98838074569046, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -173.56887510810998, + 58.58645695704378, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -172.06887510810998, + 61.184533168397095, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -170.56887510810998, + 63.78260937975041, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -169.06887510810998, + 66.38068559110373, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -167.56887510810998, + 68.97876180245704, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -166.06887510810998, + 71.57683801381036, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -164.56887510810998, + 74.17491422516368, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -163.06887510810998, + 76.77299043651699, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -163.06887510810998, + 76.77299043651699, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -160.47079889675666, + 78.27299043651699, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -157.87272268540335, + 79.77299043651699, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -155.27464647405003, + 81.27299043651699, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -152.6765702626967, + 82.77299043651699, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -150.0784940513434, + 84.27299043651699, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 104.0, + 94.1833 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-23-3_238962600/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-23-3_238962600/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d9afdea504caef7bae9a6867fb1eef8e3f56ee2 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-23-3_238962600/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 131.28549225467592, + -244.22757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 128.6874160433226, + -242.72757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 126.08933983196928, + -241.22757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 123.49126362061597, + -239.72757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 120.89318740926265, + -238.22757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 118.29511119790934, + -236.72757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 115.69703498655602, + -235.22757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 113.0989587752027, + -233.72757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 110.50088256384939, + -232.22757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 107.90280635249607, + -230.72757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 105.30473014114276, + -229.22757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 102.70665392978944, + -227.72757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 100.10857771843612, + -226.22757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 97.51050150708281, + -224.72757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 94.91242529572949, + -223.22757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 92.31434908437618, + -221.72757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 89.71627287302286, + -220.22757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 87.11819666166954, + -218.72757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 84.52012045031623, + -217.22757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 81.92204423896291, + -215.72757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 79.3239680276096, + -214.22757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 76.72589181625628, + -212.72757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 74.12781560490296, + -211.22757673423183, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 71.52973939354965, + -209.72757673423183, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + -200.0, + 93.7776 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-23-52_1431419379/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-23-52_1431419379/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..14384b6b55f4ee9c87a89b99d9604dfb1733454b --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-23-52_1431419379/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 102.80156272727615, + -134.00749708199172, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 101.30156272727615, + -136.60557329334503, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 99.80156272727615, + -139.20364950469835, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 98.30156272727615, + -141.80172571605166, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 96.80156272727615, + -144.39980192740498, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 95.30156272727615, + -146.9978781387583, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 93.80156272727615, + -149.5959543501116, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 92.30156272727615, + -152.19403056146493, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 90.80156272727615, + -154.79210677281824, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 89.30156272727615, + -157.39018298417156, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 87.80156272727615, + -159.98825919552488, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 86.30156272727615, + -162.5863354068782, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 86.30156272727615, + -162.5863354068782, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 86.30156272727615, + -165.5863354068782, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 86.30156272727615, + -168.5863354068782, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 86.30156272727615, + -168.5863354068782, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 86.30156272727615, + -168.5863354068782, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 83.70348651592283, + -170.0863354068782, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 81.10541030456952, + -171.5863354068782, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 78.5073340932162, + -173.0863354068782, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 75.90925788186289, + -174.5863354068782, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 73.31118167050957, + -176.0863354068782, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 70.71310545915625, + -177.5863354068782, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 68.11502924780294, + -179.0863354068782, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 65.51695303644962, + -180.5863354068782, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 62.918876825096305, + -182.0863354068782, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 60.32080061374299, + -183.5863354068782, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 57.72272440238967, + -185.0863354068782, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + -200.0, + 93.7776 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-24-34_619290071/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-24-34_619290071/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6c892a551b653a50a9a3b8e74121003742a0838c --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-24-34_619290071/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -193.50439562300494, + -230.79796152232672, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -192.00439562300494, + -233.39603773368003, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -190.50439562300494, + -235.99411394503335, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -189.00439562300494, + -238.59219015638666, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -187.50439562300494, + -241.19026636773998, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -186.00439562300494, + -243.7883425790933, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -184.50439562300494, + -246.3864187904466, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -183.00439562300494, + -248.98449500179993, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -181.50439562300494, + -251.58257121315324, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -180.00439562300494, + -254.18064742450656, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -178.50439562300494, + -256.7787236358599, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -177.00439562300494, + -259.3767998472132, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -175.50439562300494, + -261.9748760585665, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -174.00439562300494, + -264.5729522699198, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -174.00439562300494, + -264.5729522699198, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -174.00439562300494, + -267.5729522699198, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -174.00439562300494, + -270.5729522699198, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -174.00439562300494, + -273.5729522699198, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -300.0, + 151.838 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-24-46_707900973/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-24-46_707900973/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b1acf21ad03f041acc9d76c4689837111d13eeec --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-24-46_707900973/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 117.4316064007585, + -244.83446088088607, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 114.83353018940518, + -243.33446088088607, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 112.23545397805186, + -241.83446088088607, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 109.63737776669855, + -240.33446088088607, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 107.03930155534523, + -238.83446088088607, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 104.44122534399192, + -237.33446088088607, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 101.8431491326386, + -235.83446088088607, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 99.24507292128528, + -234.33446088088607, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 96.64699670993197, + -232.83446088088607, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 94.04892049857865, + -231.33446088088607, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 91.45084428722534, + -229.83446088088607, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 88.85276807587202, + -228.33446088088607, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 86.2546918645187, + -226.83446088088607, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 83.65661565316539, + -225.33446088088607, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 81.05853944181207, + -223.83446088088607, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 78.46046323045876, + -222.33446088088607, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 75.86238701910544, + -220.83446088088607, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 73.26431080775212, + -219.33446088088607, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 70.66623459639881, + -217.83446088088607, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 68.06815838504549, + -216.33446088088607, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + -200.0, + 93.7776 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-26-45_1973387981/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-26-45_1973387981/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d287901bf1a33378ee8f2c7ed4510c8264fcaa3e --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-26-45_1973387981/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -353.05138589941834, + 5.328304201017865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -350.05138589941834, + 5.328304201017865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -347.05138589941834, + 5.328304201017865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -344.05138589941834, + 5.328304201017865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -341.05138589941834, + 5.328304201017865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -338.05138589941834, + 5.328304201017865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -335.05138589941834, + 5.328304201017865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -332.05138589941834, + 5.328304201017865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -329.05138589941834, + 5.328304201017865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -326.05138589941834, + 5.328304201017865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -323.05138589941834, + 5.328304201017865, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -323.05138589941834, + 5.328304201017865, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -323.05138589941834, + 5.328304201017865, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -321.55138589941834, + 2.7302279896645487, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -320.05138589941834, + 0.1321517783112327, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -318.55138589941834, + -2.4659244330420833, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -317.05138589941834, + -5.064000644395399, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -315.55138589941834, + -7.662076855748715, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -314.05138589941834, + -10.260153067102031, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -264.0, + -32.0, + 98.3205 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-26-8_404158660/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-26-8_404158660/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e1b2240d3de4fcd47a6617084003694fb9c5113 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-26-8_404158660/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -181.1008404417043, + -146.5359320566331, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -179.6008404417043, + -149.13400826798642, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -178.1008404417043, + -151.73208447933973, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -176.6008404417043, + -154.33016069069305, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -175.1008404417043, + -156.92823690204636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -173.6008404417043, + -159.52631311339968, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -172.1008404417043, + -162.124389324753, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -170.6008404417043, + -164.7224655361063, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -170.6008404417043, + -164.7224655361063, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -170.6008404417043, + -167.7224655361063, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -170.6008404417043, + -170.7224655361063, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -170.6008404417043, + -173.7224655361063, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -170.6008404417043, + -176.7224655361063, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -170.6008404417043, + -179.7224655361063, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -208.0, + 90.3045 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-27-20_260152959/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-27-20_260152959/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77f778956f79959b400c483460e71a615c81bae2 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-27-20_260152959/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 267.5965412112051, + -180.68595363432536, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 270.1946174225584, + -179.18595363432536, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 272.7926936339117, + -177.68595363432536, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 275.390769845265, + -176.18595363432536, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 277.98884605661834, + -174.68595363432536, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 280.58692226797166, + -173.18595363432536, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 283.184998479325, + -171.68595363432536, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 285.7830746906783, + -170.18595363432536, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 288.3811509020316, + -168.68595363432536, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 290.9792271133849, + -167.18595363432536, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 293.57730332473824, + -165.68595363432536, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 296.17537953609155, + -164.18595363432536, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 352.0, + -136.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-27-30_1472713773/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-27-30_1472713773/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..43c29e39b6bb5127ae7b8282b7a13d04600bb633 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-27-30_1472713773/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -218.26392874300473, + -164.73594902782733, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -219.76392874300473, + -162.13787281647402, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -221.26392874300473, + -159.5397966051207, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -222.76392874300473, + -156.94172039376738, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -224.26392874300473, + -154.34364418241407, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -225.76392874300473, + -151.74556797106075, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -227.26392874300473, + -149.14749175970744, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -228.76392874300473, + -146.54941554835412, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -230.26392874300473, + -143.9513393370008, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -231.76392874300473, + -141.3532631256475, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -231.76392874300473, + -141.3532631256475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -231.76392874300473, + -138.3532631256475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -231.76392874300473, + -135.3532631256475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -231.76392874300473, + -132.3532631256475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -231.76392874300473, + -129.3532631256475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -231.76392874300473, + -126.35326312564749, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -231.76392874300473, + -123.35326312564749, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -244.0, + -96.0, + 98.8047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-28-41_1850952926/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-28-41_1850952926/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..54e9fce5f33e2c51a0246dae93922b3468fb1246 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-28-41_1850952926/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -186.69671327783087, + -244.1791608864351, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -188.19671327783087, + -246.77723709778843, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -189.69671327783087, + -249.37531330914175, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -191.19671327783087, + -251.97338952049506, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -192.69671327783087, + -254.57146573184838, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -194.19671327783087, + -257.1695419432017, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -195.69671327783087, + -259.767618154555, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -197.19671327783087, + -262.3656943659083, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -198.69671327783087, + -264.96377057726164, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -200.19671327783087, + -267.56184678861496, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -200.19671327783087, + -267.56184678861496, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -202.79478948918418, + -269.06184678861496, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -205.3928657005375, + -270.56184678861496, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -207.99094191189081, + -272.06184678861496, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -300.0, + 90.3047 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-28-51_437116466/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-28-51_437116466/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..efff8c8d471695b6ee6461db0fc213d39c5d683e --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-28-51_437116466/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 223.03663668417752, + -280.5720571456839, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 224.53663668417752, + -277.9739809343306, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 226.03663668417752, + -275.3759047229773, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 227.53663668417752, + -272.77782851162397, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 229.03663668417752, + -270.17975230027065, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 230.53663668417752, + -267.58167608891733, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 232.03663668417752, + -264.983599877564, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 233.53663668417752, + -262.3855236662107, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 233.53663668417752, + -262.3855236662107, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 233.53663668417752, + -259.3855236662107, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 233.53663668417752, + -256.3855236662107, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 244.0, + -224.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-29-16_1176911340/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-29-16_1176911340/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1ce33cfad39ec62d705419e3ccac05ee382e39a --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-29-16_1176911340/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 140.5749345271097, + -84.60591417467697, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 137.5749345271097, + -84.60591417467697, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 134.5749345271097, + -84.60591417467697, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 134.5749345271097, + -84.60591417467697, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 131.97685831575637, + -86.10591417467697, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 129.37878210440306, + -87.60591417467697, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 126.78070589304974, + -89.10591417467697, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -104.0, + 98.3909 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-29-24_638422090/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-29-24_638422090/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ea124bde0e93fc1f6f592b22676657ce9141fb5 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-29-24_638422090/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 162.32464848326163, + -180.6558583710522, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 164.92272469461494, + -182.1558583710522, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 167.52080090596826, + -183.6558583710522, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 170.11887711732157, + -185.1558583710522, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 172.7169533286749, + -186.6558583710522, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 175.3150295400282, + -188.1558583710522, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 177.91310575138152, + -189.6558583710522, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 180.51118196273484, + -191.1558583710522, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 183.10925817408815, + -192.6558583710522, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 185.70733438544147, + -194.1558583710522, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 188.3054105967948, + -195.6558583710522, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 190.9034868081481, + -197.1558583710522, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 193.50156301950142, + -198.6558583710522, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 196.09963923085473, + -200.1558583710522, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 198.69771544220805, + -201.6558583710522, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 201.29579165356137, + -203.1558583710522, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 203.89386786491468, + -204.6558583710522, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 206.491944076268, + -206.1558583710522, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 209.09002028762131, + -207.6558583710522, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 211.68809649897463, + -209.1558583710522, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 211.68809649897463, + -209.1558583710522, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 214.68809649897463, + -209.1558583710522, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 244.0, + -224.0, + 90.3047 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-30-29_1237379107/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-30-29_1237379107/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d4323a2950e7726602392dde212e6490a906fad --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-30-29_1237379107/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -169.60490439218472, + -173.86680623089822, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -172.20298060353804, + -175.36680623089822, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -174.80105681489135, + -176.86680623089822, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -177.39913302624467, + -178.36680623089822, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -179.99720923759799, + -179.86680623089822, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -182.5952854489513, + -181.36680623089822, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -185.19336166030462, + -182.86680623089822, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -187.79143787165793, + -184.36680623089822, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -190.38951408301125, + -185.86680623089822, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-30-52_588219756/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-30-52_588219756/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9955179a98e06fa8bb81cfaad34c05a58a1ece08 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-30-52_588219756/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -245.11334913442295, + -130.15872616150506, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -246.61334913442295, + -132.75680237285837, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -248.11334913442295, + -135.3548785842117, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -249.61334913442295, + -137.952954795565, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -251.11334913442295, + -140.55103100691832, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -252.61334913442295, + -143.14910721827164, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -254.11334913442295, + -145.74718342962495, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -255.61334913442295, + -148.34525964097827, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -257.11334913442295, + -150.9433358523316, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -258.61334913442295, + -153.5414120636849, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -260.11334913442295, + -156.13948827503822, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -261.61334913442295, + -158.73756448639153, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -263.11334913442295, + -161.33564069774485, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -264.61334913442295, + -163.93371690909817, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -266.11334913442295, + -166.53179312045148, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -267.61334913442295, + -169.1298693318048, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -269.11334913442295, + -171.7279455431581, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -270.61334913442295, + -174.32602175451143, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -270.61334913442295, + -174.32602175451143, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -273.21142534577626, + -175.82602175451143, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -275.8095015571296, + -177.32602175451143, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -278.4075777684829, + -178.82602175451143, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -281.0056539798362, + -180.32602175451143, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -300.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-30-9_1876855542/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-30-9_1876855542/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05b14ab222b6e4b70e64d655a7a40aedc6111f92 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-30-9_1876855542/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -219.9439963371094, + -160.373697050494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -222.54207254846273, + -161.873697050494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -225.14014875981604, + -163.373697050494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -227.73822497116936, + -164.873697050494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -230.33630118252267, + -166.373697050494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -232.934377393876, + -167.873697050494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -235.5324536052293, + -169.373697050494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -238.13052981658262, + -170.873697050494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -240.72860602793594, + -172.373697050494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -243.32668223928925, + -173.873697050494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -245.92475845064257, + -175.373697050494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -248.5228346619959, + -176.873697050494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -251.1209108733492, + -178.373697050494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -253.71898708470252, + -179.873697050494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -256.31706329605584, + -181.373697050494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -258.91513950740915, + -182.873697050494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -261.51321571876247, + -184.373697050494, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -264.1112919301158, + -185.873697050494, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -300.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-31-58_1065103348/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-31-58_1065103348/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7def566f16344828bd1ebd43a9d6df868c779eb8 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-31-58_1065103348/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 71.28774463052534, + -124.76828227528439, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 69.78774463052534, + -127.36635848663771, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 68.28774463052534, + -129.964434697991, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393198 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 66.78774463052534, + -132.56251090934433, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 66.78774463052534, + -132.56251090934433, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 64.18966841917202, + -134.06251090934433, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 61.59159220781871, + -135.56251090934433, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 58.99351599646539, + -137.06251090934433, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 58.99351599646539, + -137.06251090934433, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 55.99351599646539, + -137.06251090934433, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 55.99351599646539, + -137.06251090934433, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 55.99351599646539, + -137.06251090934433, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 54.49351599646539, + -139.66058712069764, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 54.49351599646539, + -139.66058712069764, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 54.49351599646539, + -142.66058712069764, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 54.49351599646539, + -145.66058712069764, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 54.49351599646539, + -148.66058712069764, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 54.49351599646539, + -151.66058712069764, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 54.49351599646539, + -154.66058712069764, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 54.49351599646539, + -157.66058712069764, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 54.49351599646539, + -160.66058712069764, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 54.49351599646539, + -163.66058712069764, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 54.49351599646539, + -166.66058712069764, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 54.49351599646539, + -169.66058712069764, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 54.49351599646539, + -172.66058712069764, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 54.49351599646539, + -175.66058712069764, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 54.49351599646539, + -178.66058712069764, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 54.49351599646539, + -181.66058712069764, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 54.49351599646539, + -184.66058712069764, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + -200.0, + 93.7776 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-31-6_1856669179/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-31-6_1856669179/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3fd21e9a771740e12f1995baa8cb3a2d8d0205ba --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-31-6_1856669179/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 271.814548400781, + 39.98686780570581, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 270.314548400781, + 42.58494401705913, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 268.814548400781, + 45.183020228412445, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 267.314548400781, + 47.78109643976576, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 265.814548400781, + 50.37917265111908, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 264.314548400781, + 52.97724886247239, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 262.814548400781, + 55.57532507382571, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 261.314548400781, + 58.173401285179025, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 259.814548400781, + 60.77147749653234, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 258.314548400781, + 63.36955370788566, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 256.814548400781, + 65.96762991923897, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 255.314548400781, + 68.56570613059229, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 253.814548400781, + 71.1637823419456, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 252.314548400781, + 73.76185855329892, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 250.814548400781, + 76.35993476465224, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 250.814548400781, + 76.35993476465224, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 248.2164721894277, + 77.85993476465224, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 245.61839597807437, + 79.35993476465224, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 212.0, + 120.0, + 101.521 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-33-33_1799878206/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-33-33_1799878206/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..418643db7e72f86e26078d957ff79a46d23b584e --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-33-33_1799878206/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 39.816181443803856, + -182.69258019764345, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 41.316181443803856, + -180.09450398629014, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 42.816181443803856, + -177.49642777493682, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 44.316181443803856, + -174.8983515635835, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 45.816181443803856, + -172.3002753522302, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 47.316181443803856, + -169.70219914087687, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 48.816181443803856, + -167.10412292952356, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 50.316181443803856, + -164.50604671817024, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 51.816181443803856, + -161.90797050681692, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 51.816181443803856, + -161.90797050681692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 51.816181443803856, + -158.90797050681692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 51.816181443803856, + -155.90797050681692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 51.816181443803856, + -152.90797050681692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 51.816181443803856, + -149.90797050681692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 51.816181443803856, + -146.90797050681692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 51.816181443803856, + -143.90797050681692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 51.816181443803856, + -140.90797050681692, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 51.816181443803856, + -140.90797050681692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 53.316181443803856, + -138.3098942954636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 54.816181443803856, + -135.7118180841103, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 56.316181443803856, + -133.11374187275698, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 57.816181443803856, + -130.51566566140366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 59.316181443803856, + -127.91758945005034, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 60.816181443803856, + -125.31951323869703, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 62.316181443803856, + -122.72143702734371, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -104.0, + 98.3909 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-35-45_1950955939/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-35-45_1950955939/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c216b719c0bf2e514d6b58ab440c3fb0e35c99aa --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-35-45_1950955939/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -176.9055075433416, + -114.62330626616206, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -176.9055075433416, + -117.62330626616206, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -176.9055075433416, + -120.62330626616206, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -176.9055075433416, + -123.62330626616206, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -176.9055075433416, + -126.62330626616206, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -176.9055075433416, + -129.62330626616205, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -176.9055075433416, + -132.62330626616205, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -176.9055075433416, + -135.62330626616205, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -176.9055075433416, + -138.62330626616205, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -176.9055075433416, + -141.62330626616205, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -176.9055075433416, + -144.62330626616205, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -176.9055075433416, + -147.62330626616205, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -176.9055075433416, + -150.62330626616205, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -176.9055075433416, + -153.62330626616205, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -176.9055075433416, + -156.62330626616205, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -176.9055075433416, + -159.62330626616205, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -176.9055075433416, + -162.62330626616205, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -176.9055075433416, + -165.62330626616205, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -176.9055075433416, + -168.62330626616205, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -176.9055075433416, + -168.62330626616205, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -175.4055075433416, + -171.22138247751536, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -173.9055075433416, + -173.81945868886868, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -172.4055075433416, + -176.417534900222, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -170.9055075433416, + -179.0156111115753, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -169.4055075433416, + -181.61368732292863, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -208.0, + 90.3045 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-35-5_774044599/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-35-5_774044599/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e231ff7d03ad5b3b660cbb96b27b85a2d263c70 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-35-5_774044599/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -340.52318700705115, + -83.05443912206688, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -337.52318700705115, + -83.05443912206688, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -334.52318700705115, + -83.05443912206688, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -331.52318700705115, + -83.05443912206688, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -328.52318700705115, + -83.05443912206688, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -325.52318700705115, + -83.05443912206688, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -322.52318700705115, + -83.05443912206688, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -319.52318700705115, + -83.05443912206688, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -316.52318700705115, + -83.05443912206688, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -313.52318700705115, + -83.05443912206688, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -310.52318700705115, + -83.05443912206688, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -307.52318700705115, + -83.05443912206688, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -304.52318700705115, + -83.05443912206688, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -304.52318700705115, + -83.05443912206688, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -301.92511079569783, + -84.55443912206688, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -299.3270345843445, + -86.05443912206688, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -296.7289583729912, + -87.55443912206688, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -294.1308821616379, + -89.05443912206688, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -291.53280595028457, + -90.55443912206688, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -244.0, + -96.0, + 98.8047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-37-51_555996658/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-37-51_555996658/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0cc2a520dd9119c43dc98549f7ce898daeb3bb04 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-37-51_555996658/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -95.3250541874888, + 224.57380301032836, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -92.3250541874888, + 224.57380301032836, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -89.3250541874888, + 224.57380301032836, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -89.3250541874888, + 224.57380301032836, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -89.3250541874888, + 224.57380301032836, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -87.8250541874888, + 221.97572679897505, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -86.3250541874888, + 219.37765058762173, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -84.8250541874888, + 216.7795743762684, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -83.3250541874888, + 214.1814981649151, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -81.8250541874888, + 211.58342195356178, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -81.8250541874888, + 211.58342195356178, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -79.22697797613549, + 210.08342195356178, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -44.0, + 184.0, + 102.868 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-38-43_1389867269/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-38-43_1389867269/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..379bb43321e5eb0cc5002556a7c8e38304b2f250 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-38-43_1389867269/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -97.45831603936425, + -286.48609582722327, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -100.45831603936425, + -286.48609582722327, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -103.45831603936425, + -286.48609582722327, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -106.45831603936425, + -286.48609582722327, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -109.45831603936425, + -286.48609582722327, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -112.45831603936425, + -286.48609582722327, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -115.45831603936425, + -286.48609582722327, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -115.45831603936425, + -286.48609582722327, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -118.05639225071756, + -287.98609582722327, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -120.65446846207088, + -289.48609582722327, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -123.2525446734242, + -290.98609582722327, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -125.85062088477751, + -292.48609582722327, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -128.44869709613084, + -293.98609582722327, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -131.04677330748416, + -295.48609582722327, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -300.0, + 151.838 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-38-55_780821396/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-38-55_780821396/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..118f719ad427d659221563287d83567b63c77a51 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-38-55_780821396/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -179.45605056640073, + 183.29488892754063, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -177.95605056640073, + 180.6968127161873, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -176.45605056640073, + 178.098736504834, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -174.95605056640073, + 175.50066029348068, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -173.45605056640073, + 172.90258408212736, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -171.95605056640073, + 170.30450787077405, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -170.45605056640073, + 167.70643165942073, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -168.95605056640073, + 165.1083554480674, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -167.45605056640073, + 162.5102792367141, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -165.95605056640073, + 159.91220302536078, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -164.45605056640073, + 157.31412681400747, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -162.95605056640073, + 154.71605060265415, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -161.45605056640073, + 152.11797439130083, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -159.95605056640073, + 149.51989817994752, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -158.45605056640073, + 146.9218219685942, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -156.95605056640073, + 144.32374575724089, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -155.45605056640073, + 141.72566954588757, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -153.95605056640073, + 139.12759333453425, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -152.45605056640073, + 136.52951712318094, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -150.95605056640073, + 133.93144091182762, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -149.45605056640073, + 131.3333647004743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -147.95605056640073, + 128.735288489121, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -146.45605056640073, + 126.13721227776767, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -144.95605056640073, + 123.53913606641436, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 104.0, + 94.1833 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-4-18_971899228/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-4-18_971899228/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b1c7d88f17c1bd75145d06652264327fbc29001a --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-4-18_971899228/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 253.82227360177228, + -180.613056444457, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 256.4203498131256, + -182.113056444457, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 256.4203498131256, + -182.113056444457, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 257.9203498131256, + -184.7111326558103, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 259.4203498131256, + -187.30920886716362, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 259.4203498131256, + -187.30920886716362, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 262.0184260244789, + -188.80920886716362, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 264.61650223583223, + -190.30920886716362, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 267.21457844718554, + -191.80920886716362, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 269.81265465853886, + -193.30920886716362, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 272.4107308698922, + -194.80920886716362, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 275.0088070812455, + -196.30920886716362, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 277.6068832925988, + -197.80920886716362, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 280.2049595039521, + -199.30920886716362, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 282.80303571530544, + -200.80920886716362, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 285.40111192665876, + -202.30920886716362, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 287.9991881380121, + -203.80920886716362, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 290.5972643493654, + -205.30920886716362, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 293.1953405607187, + -206.80920886716362, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 295.793416772072, + -208.30920886716362, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + -224.0, + 90.3059 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-4-32_1476153275/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-4-32_1476153275/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e826267509bad97bf6e3fbdbabfa0d5973df3a35 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-4-32_1476153275/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -274.322828736114, + -163.66966153244354, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -271.322828736114, + -163.66966153244354, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -268.322828736114, + -163.66966153244354, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -265.322828736114, + -163.66966153244354, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -265.322828736114, + -163.66966153244354, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -265.322828736114, + -163.66966153244354, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -263.822828736114, + -166.26773774379686, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -262.322828736114, + -168.86581395515017, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -260.822828736114, + -171.4638901665035, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -259.322828736114, + -174.0619663778568, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -257.822828736114, + -176.66004258921012, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -256.322828736114, + -179.25811880056344, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -254.822828736114, + -181.85619501191675, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-40-36_1414647625/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-40-36_1414647625/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f33f8040101378f9e807c2075d9a3200ad4e4b5a --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-40-36_1414647625/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -134.5856007862273, + 187.5358360020864, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -134.5856007862273, + 184.5358360020864, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -134.5856007862273, + 181.5358360020864, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -134.5856007862273, + 178.5358360020864, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -134.5856007862273, + 175.5358360020864, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -134.5856007862273, + 172.5358360020864, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -134.5856007862273, + 169.5358360020864, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -134.5856007862273, + 166.5358360020864, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -134.5856007862273, + 163.5358360020864, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -134.5856007862273, + 160.5358360020864, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -134.5856007862273, + 157.5358360020864, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -134.5856007862273, + 154.5358360020864, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -134.5856007862273, + 151.5358360020864, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -134.5856007862273, + 148.5358360020864, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -134.5856007862273, + 145.5358360020864, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -134.5856007862273, + 142.5358360020864, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -134.5856007862273, + 139.5358360020864, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -134.5856007862273, + 136.5358360020864, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -134.5856007862273, + 133.5358360020864, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -134.5856007862273, + 130.5358360020864, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -134.5856007862273, + 127.5358360020864, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 104.0, + 94.1833 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-40-50_1635905385/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-40-50_1635905385/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f660981ecb23cfc12b8519a72ff65530a911f0f0 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-40-50_1635905385/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 121.73951961428153, + -230.6985006251241, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 121.73951961428153, + -227.6985006251241, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 121.73951961428153, + -224.6985006251241, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 121.73951961428153, + -221.6985006251241, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 121.73951961428153, + -218.6985006251241, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 121.73951961428153, + -215.6985006251241, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 121.73951961428153, + -212.6985006251241, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 121.73951961428153, + -209.6985006251241, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 121.73951961428153, + -206.6985006251241, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 121.73951961428153, + -203.6985006251241, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 121.73951961428153, + -203.6985006251241, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 123.23951961428153, + -201.10042441377078, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 124.73951961428153, + -198.50234820241747, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 126.23951961428153, + -195.90427199106415, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 127.73951961428153, + -193.30619577971083, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 129.23951961428153, + -190.70811956835752, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 130.73951961428153, + -188.1100433570042, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 132.23951961428153, + -185.51196714565089, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 132.23951961428153, + -185.51196714565089, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 132.23951961428153, + -182.51196714565089, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 132.23951961428153, + -179.51196714565089, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + -144.0, + 90.3044 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-41-23_337739299/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-41-23_337739299/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b6bbb31b3a4095771c213394bb0213b4486e6f16 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-41-23_337739299/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 183.72540611082945, + -107.03196479176636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 180.72540611082945, + -107.03196479176636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 177.72540611082945, + -107.03196479176636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 174.72540611082945, + -107.03196479176636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 171.72540611082945, + -107.03196479176636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 168.72540611082945, + -107.03196479176636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 165.72540611082945, + -107.03196479176636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 162.72540611082945, + -107.03196479176636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 159.72540611082945, + -107.03196479176636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 156.72540611082945, + -107.03196479176636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 153.72540611082945, + -107.03196479176636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 150.72540611082945, + -107.03196479176636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 147.72540611082945, + -107.03196479176636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 144.72540611082945, + -107.03196479176636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 141.72540611082945, + -107.03196479176636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 138.72540611082945, + -107.03196479176636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 135.72540611082945, + -107.03196479176636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 132.72540611082945, + -107.03196479176636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 129.72540611082945, + -107.03196479176636, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 126.72540611082945, + -107.03196479176636, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.0, + -104.0, + 98.4565 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-41-50_1343606042/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-41-50_1343606042/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e7273de75609b24f7047e3749db16c0ba50a8ccc --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-41-50_1343606042/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -108.12587973016466, + -250.73405051189403, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -110.72395594151797, + -252.23405051189403, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -113.32203215287129, + -253.73405051189403, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -115.9201083642246, + -255.23405051189403, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -300.0, + 151.838 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-43-10_846942590/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-43-10_846942590/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad7c201725de8cf4294878d2a55b12b799dd001c --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-43-10_846942590/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -193.12573342299703, + -276.6439532448075, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -191.62573342299703, + -274.0458770334542, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -190.12573342299703, + -271.4478008221009, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -188.62573342299703, + -268.84972461074756, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -187.12573342299703, + -266.25164839939424, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -185.62573342299703, + -263.6535721880409, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -184.12573342299703, + -261.0554959766876, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -182.62573342299703, + -258.4574197653343, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -181.12573342299703, + -255.85934355398098, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -179.62573342299703, + -253.26126734262766, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -179.62573342299703, + -253.26126734262766, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -179.62573342299703, + -250.26126734262766, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -179.62573342299703, + -247.26126734262766, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -179.62573342299703, + -244.26126734262766, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -179.62573342299703, + -241.26126734262766, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -208.0, + 90.3045 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-43-29_700108581/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-43-29_700108581/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..47c45762aa36c3742a315af0f1b1d48625a88008 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-43-29_700108581/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 181.79899267508083, + 65.72783420051039, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 183.29899267508083, + 68.3259104118637, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 184.79899267508083, + 70.92398662321702, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 186.29899267508083, + 73.52206283457033, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 187.79899267508083, + 76.12013904592365, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 189.29899267508083, + 78.71821525727697, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 190.79899267508083, + 81.31629146863028, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 192.29899267508083, + 83.9143676799836, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 212.0, + 120.0, + 101.521 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-44-18_726371155/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-44-18_726371155/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59f7078d116b342b297c57dded938389410288d7 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-44-18_726371155/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -200.24350491831842, + -66.63081052170446, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -202.84158112967174, + -65.13081052170446, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -205.43965734102505, + -63.63081052170446, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -208.03773355237837, + -62.13081052170446, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -210.6358097637317, + -60.63081052170446, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -213.233885975085, + -59.13081052170446, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -215.83196218643832, + -57.63081052170446, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -218.43003839779163, + -56.13081052170446, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -221.02811460914495, + -54.63081052170446, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -223.62619082049827, + -53.13081052170446, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -226.22426703185158, + -51.63081052170446, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -264.0, + -32.0, + 98.3205 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-45-39_630668850/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-45-39_630668850/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fde4a9ee294e8c69d2a8a87abd7220c2347205c1 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-45-39_630668850/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 285.97802159135006, + 70.61296373139953, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 283.37994537999674, + 72.11296373139953, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 280.7818691686434, + 73.61296373139953, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 278.1837929572901, + 75.11296373139953, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 275.5857167459368, + 76.61296373139953, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 272.9876405345835, + 78.11296373139953, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 270.38956432323016, + 79.61296373139953, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 267.79148811187684, + 81.11296373139953, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 265.19341190052353, + 82.61296373139953, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 262.5953356891702, + 84.11296373139953, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 259.9972594778169, + 85.61296373139953, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 257.3991832664636, + 87.11296373139953, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 254.80110705511026, + 88.61296373139953, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 252.20303084375695, + 90.11296373139953, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 252.20303084375695, + 90.11296373139953, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 250.70303084375695, + 92.71103994275285, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 249.20303084375695, + 95.30911615410616, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 212.0, + 120.0, + 101.521 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-48-43_1411154259/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-48-43_1411154259/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8edf0a2834fe520df8c61c5d56540fc2c46b8941 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-48-43_1411154259/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 169.28939024175583, + -104.03396657752668, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 166.6913140304025, + -102.53396657752668, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 164.0932378190492, + -101.03396657752668, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 161.49516160769588, + -99.53396657752668, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 158.89708539634256, + -98.03396657752668, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 156.29900918498925, + -96.53396657752668, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 153.70093297363593, + -95.03396657752668, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 151.1028567622826, + -93.53396657752668, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 148.5047805509293, + -92.03396657752668, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 145.90670433957598, + -90.53396657752668, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 143.30862812822267, + -89.03396657752668, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 140.71055191686935, + -87.53396657752668, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 138.11247570551603, + -86.03396657752668, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 135.51439949416272, + -84.53396657752668, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 132.9163232828094, + -83.03396657752668, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 130.31824707145608, + -81.53396657752668, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 130.31824707145608, + -81.53396657752668, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 128.81824707145608, + -78.93589036617337, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 127.31824707145608, + -76.33781415482005, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 125.81824707145608, + -73.73973794346674, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 124.31824707145608, + -71.14166173211342, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 122.81824707145608, + -68.5435855207601, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 100.0, + -52.0, + 103.289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-5-3_1626276121/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-5-3_1626276121/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..adac96f1d80b26777051d3fc1f77577e2094f194 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-5-3_1626276121/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -106.14817821662464, + -253.52282426069834, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -108.74625442797796, + -252.02282426069834, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -111.34433063933128, + -250.52282426069834, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -113.94240685068459, + -249.02282426069834, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -116.54048306203791, + -247.52282426069834, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -119.13855927339122, + -246.02282426069834, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -121.73663548474454, + -244.52282426069834, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -124.33471169609786, + -243.02282426069834, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -126.93278790745117, + -241.52282426069834, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -129.5308641188045, + -240.02282426069834, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -129.5308641188045, + -240.02282426069834, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -131.0308641188045, + -237.42474804934503, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -132.5308641188045, + -234.8266718379917, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -134.0308641188045, + -232.2285956266384, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -208.0, + 90.3045 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-5-40_1239036029/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-5-40_1239036029/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8bcd668f007bc8d6f0579102a3fb561995723c79 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-5-40_1239036029/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 173.51079134486787, + -84.4549130395433, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 172.01079134486787, + -87.05298925089662, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 170.51079134486787, + -89.65106546224993, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 169.01079134486787, + -92.24914167360325, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 167.51079134486787, + -94.84721788495656, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 166.01079134486787, + -97.44529409630988, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 164.51079134486787, + -100.0433703076632, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 163.01079134486787, + -102.64144651901651, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 161.51079134486787, + -105.23952273036983, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 160.01079134486787, + -107.83759894172314, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 158.51079134486787, + -110.43567515307646, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 157.01079134486787, + -113.03375136442978, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 155.51079134486787, + -115.63182757578309, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 154.01079134486787, + -118.22990378713641, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + -144.0, + 90.3044 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-50-23_950390868/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-50-23_950390868/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3992e81b6b064cd9cb566665b3fff60aa32c26f5 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-50-23_950390868/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -219.19627570148407, + -242.87286871100437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -221.79435191283739, + -241.37286871100437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -224.3924281241907, + -239.87286871100437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -226.99050433554402, + -238.37286871100437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -229.58858054689733, + -236.87286871100437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -232.18665675825065, + -235.37286871100437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -234.78473296960397, + -233.87286871100437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -237.38280918095728, + -232.37286871100437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -239.9808853923106, + -230.87286871100437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -242.5789616036639, + -229.37286871100437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -245.17703781501723, + -227.87286871100437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -247.77511402637055, + -226.37286871100437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -250.37319023772386, + -224.87286871100437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -252.97126644907718, + -223.37286871100437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -255.5693426604305, + -221.87286871100437, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -255.5693426604305, + -221.87286871100437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -258.5693426604305, + -221.87286871100437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -261.5693426604305, + -221.87286871100437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -264.5693426604305, + -221.87286871100437, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -267.5693426604305, + -221.87286871100437, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -300.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-50-36_255789528/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-50-36_255789528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2677a7b265d9a99badd82f319b63ea0a7bec3cb4 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-50-36_255789528/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -205.3922416791393, + -130.5479585637193, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -206.8922416791393, + -133.14603477507262, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -208.3922416791393, + -135.74411098642594, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -209.8922416791393, + -138.34218719777925, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -211.3922416791393, + -140.94026340913257, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -212.8922416791393, + -143.53833962048589, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -214.3922416791393, + -146.1364158318392, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -215.8922416791393, + -148.73449204319252, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -217.3922416791393, + -151.33256825454583, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -218.8922416791393, + -153.93064446589915, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -220.3922416791393, + -156.52872067725247, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -220.3922416791393, + -156.52872067725247, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -220.3922416791393, + -159.52872067725247, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -220.3922416791393, + -162.52872067725247, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -220.3922416791393, + -165.52872067725247, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -220.3922416791393, + -168.52872067725247, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -220.3922416791393, + -171.52872067725247, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -220.3922416791393, + -174.52872067725247, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -220.3922416791393, + -177.52872067725247, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -220.3922416791393, + -180.52872067725247, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-50-50_1266235189/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-50-50_1266235189/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b9602162a56548dd61cedc7eba4257e1c6b896c --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-50-50_1266235189/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 81.19022534640197, + -124.90317297190413, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 81.19022534640197, + -121.90317297190413, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 81.19022534640197, + -118.90317297190413, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 81.19022534640197, + -115.90317297190413, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 81.19022534640197, + -112.90317297190413, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 81.19022534640197, + -109.90317297190413, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 81.19022534640197, + -106.90317297190413, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 81.19022534640197, + -103.90317297190413, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 81.19022534640197, + -100.90317297190413, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 81.19022534640197, + -97.90317297190413, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 81.19022534640197, + -94.90317297190413, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 81.19022534640197, + -94.90317297190413, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 82.69022534640197, + -92.30509676055081, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 84.19022534640197, + -89.7070205491975, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 85.69022534640197, + -87.10894433784418, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 87.19022534640197, + -84.51086812649086, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 88.69022534640197, + -81.91279191513755, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 90.19022534640197, + -79.31471570378423, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 91.69022534640197, + -76.71663949243091, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 93.19022534640197, + -74.1185632810776, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 94.69022534640197, + -71.52048706972428, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 100.0, + -52.0, + 103.289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-51-22_1277849958/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-51-22_1277849958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3da262baf6c48a7416ca81c5cc94f59d32e74a9e --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-51-22_1277849958/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -266.6251555639657, + -157.7830465883337, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -265.1251555639657, + -160.381122799687, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -263.6251555639657, + -162.97919901104032, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -262.1251555639657, + -165.57727522239364, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -260.6251555639657, + -168.17535143374695, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -259.1251555639657, + -170.77342764510027, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -257.6251555639657, + -173.3715038564536, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -256.1251555639657, + -175.9695800678069, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -254.62515556396568, + -178.56765627916022, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -254.62515556396568, + -178.56765627916022, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -252.02707935261236, + -180.06765627916022, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -249.42900314125905, + -181.56765627916022, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-51-33_777210498/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-51-33_777210498/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc88daca9514461f8632ada8f2dbd531533b2112 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-51-33_777210498/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 91.28264411002621, + -281.7056379890282, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 91.28264411002621, + -278.7056379890282, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 91.28264411002621, + -275.7056379890282, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 91.28264411002621, + -272.7056379890282, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 91.28264411002621, + -269.7056379890282, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 91.28264411002621, + -266.7056379890282, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 91.28264411002621, + -263.7056379890282, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 91.28264411002621, + -260.7056379890282, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 91.28264411002621, + -257.7056379890282, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 91.28264411002621, + -257.7056379890282, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 91.28264411002621, + -257.7056379890282, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 88.6845678986729, + -256.2056379890282, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 86.08649168731958, + -254.70563798902822, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 83.48841547596626, + -253.20563798902822, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 80.89033926461295, + -251.70563798902822, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 78.29226305325963, + -250.20563798902822, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 75.69418684190632, + -248.70563798902822, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 75.69418684190632, + -248.70563798902822, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 74.19418684190632, + -246.1075617776749, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 72.69418684190632, + -243.5094855663216, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 71.19418684190632, + -240.91140935496827, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 69.69418684190632, + -238.31333314361495, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 68.19418684190632, + -235.71525693226164, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 66.69418684190632, + -233.11718072090832, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 65.19418684190632, + -230.519104509555, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 63.694186841906316, + -227.9210282982017, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 62.194186841906316, + -225.32295208684837, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + -200.0, + 93.7776 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-52-37_364686248/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-52-37_364686248/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f7ef9448d88093b1d979131837c0468767fd46e --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-52-37_364686248/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 102.69669686950282, + -161.1882700995844, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 100.0986206581495, + -162.6882700995844, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 97.50054444679618, + -164.1882700995844, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 94.90246823544287, + -165.6882700995844, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 92.30439202408955, + -167.1882700995844, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 89.70631581273624, + -168.6882700995844, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 87.10823960138292, + -170.1882700995844, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 84.5101633900296, + -171.6882700995844, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 81.91208717867629, + -173.1882700995844, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 79.31401096732297, + -174.6882700995844, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 76.71593475596966, + -176.1882700995844, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 74.11785854461634, + -177.6882700995844, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 71.51978233326302, + -179.1882700995844, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 71.51978233326302, + -179.1882700995844, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 70.01978233326302, + -181.78634631093772, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 68.51978233326302, + -184.38442252229103, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 67.01978233326302, + -186.98249873364435, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + -200.0, + 93.7776 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-52-49_1309383303/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-52-49_1309383303/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..98e8afafa6147d782fe418c7c2a33e484e5ae89c --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-52-49_1309383303/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 282.7741756927297, + -179.70979322629438, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 285.37225190408304, + -178.20979322629438, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 287.97032811543636, + -176.70979322629438, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 290.5684043267897, + -175.20979322629438, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 293.166480538143, + -173.70979322629438, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 295.7645567494963, + -172.20979322629438, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 298.3626329608496, + -170.70979322629438, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 352.0, + -136.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-52-57_1129033333/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-52-57_1129033333/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c772955ece5d106a851e8c20b091468aa3e90a0 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-52-57_1129033333/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 103.04676995448376, + -224.58367612702315, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 106.04676995448376, + -224.58367612702315, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 109.04676995448376, + -224.58367612702315, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 112.04676995448376, + -224.58367612702315, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 115.04676995448376, + -224.58367612702315, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 118.04676995448376, + -224.58367612702315, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 168.0, + -220.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-53-4_1329132133/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-53-4_1329132133/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7d76eaac5d4b6bf62bee85acb8b6ab37733f66b4 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-53-4_1329132133/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -263.76687423011737, + -133.62631073005062, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -265.26687423011737, + -136.22438694140394, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -266.76687423011737, + -138.82246315275725, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -268.26687423011737, + -141.42053936411057, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -269.76687423011737, + -144.01861557546388, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -271.26687423011737, + -146.6166917868172, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -272.76687423011737, + -149.21476799817052, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -274.26687423011737, + -151.81284420952383, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -275.76687423011737, + -154.41092042087715, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -277.26687423011737, + -157.00899663223046, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -278.76687423011737, + -159.60707284358378, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -280.26687423011737, + -162.2051490549371, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -281.76687423011737, + -164.8032252662904, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -283.26687423011737, + -167.40130147764373, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -284.76687423011737, + -169.99937768899704, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -286.26687423011737, + -172.59745390035036, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -286.26687423011737, + -172.59745390035036, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -286.26687423011737, + -175.59745390035036, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -286.26687423011737, + -178.59745390035036, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -300.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-53-50_150517567/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-53-50_150517567/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4c9ceccd70090b2c33e6e6addd7ea7697024b9f1 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-53-50_150517567/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -134.13303815944613, + -121.84790514819574, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -135.63303815944613, + -124.44598135954905, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -137.13303815944613, + -127.04405757090237, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -138.63303815944613, + -129.64213378225568, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -140.13303815944613, + -132.240209993609, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -141.63303815944613, + -134.83828620496232, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -143.13303815944613, + -137.43636241631563, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -144.63303815944613, + -140.03443862766895, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -146.13303815944613, + -142.63251483902226, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -147.63303815944613, + -145.23059105037558, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -149.13303815944613, + -147.8286672617289, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -150.63303815944613, + -150.4267434730822, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -152.13303815944613, + -153.02481968443553, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -153.63303815944613, + -155.62289589578884, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -153.63303815944613, + -155.62289589578884, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -153.63303815944613, + -158.62289589578884, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -153.63303815944613, + -161.62289589578884, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -153.63303815944613, + -164.62289589578884, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -153.63303815944613, + -167.62289589578884, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -153.63303815944613, + -170.62289589578884, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -153.63303815944613, + -173.62289589578884, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -153.63303815944613, + -176.62289589578884, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -153.63303815944613, + -179.62289589578884, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -208.0, + 90.3045 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-54-4_212251746/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-54-4_212251746/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..430c34da21dbcd4f39c6d5340ae8d3d9ef4d3c3e --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-54-4_212251746/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 231.2506379731176, + -284.3513314937114, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 229.7506379731176, + -281.7532552823581, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 228.2506379731176, + -279.1551790710048, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 226.7506379731176, + -276.5571028596515, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 225.2506379731176, + -273.95902664829816, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 223.7506379731176, + -271.36095043694485, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 223.7506379731176, + -271.36095043694485, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 221.15256176176428, + -269.86095043694485, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 218.55448555041096, + -268.36095043694485, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 215.95640933905764, + -266.86095043694485, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 213.35833312770433, + -265.36095043694485, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 210.760256916351, + -263.86095043694485, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 208.1621807049977, + -262.36095043694485, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 205.56410449364438, + -260.86095043694485, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 205.56410449364438, + -260.86095043694485, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 204.06410449364438, + -258.26287422559153, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 168.0, + -220.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-55-21_624549797/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-55-21_624549797/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a27c5b2cd5a87c8673141a435272854246b0d1b1 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-55-21_624549797/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -45.22901953819746, + 31.619038424569048, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -42.22901953819746, + 31.619038424569048, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -39.22901953819746, + 31.619038424569048, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -36.22901953819746, + 31.619038424569048, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -33.22901953819746, + 31.619038424569048, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -30.229019538197463, + 31.619038424569048, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -27.229019538197463, + 31.619038424569048, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -24.229019538197463, + 31.619038424569048, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -24.229019538197463, + 31.619038424569048, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -24.229019538197463, + 31.619038424569048, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -22.729019538197463, + 34.217114635922364, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -21.229019538197463, + 36.81519084727568, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -19.729019538197463, + 39.413267058628996, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -18.229019538197463, + 42.01134326998231, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + 64.0, + 95.4746 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-55-48_1886086990/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-55-48_1886086990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..21b8085412449241cca78154427c588bd1f56be1 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-55-48_1886086990/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 101.26732714378309, + 191.14104671990114, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 99.76732714378309, + 188.54297050854782, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 98.26732714378309, + 185.9448942971945, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 96.76732714378309, + 183.3468180858412, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 95.26732714378309, + 180.74874187448788, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 93.76732714378309, + 178.15066566313456, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 92.26732714378309, + 175.55258945178124, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 90.76732714378309, + 172.95451324042793, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 89.26732714378309, + 170.3564370290746, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 87.76732714378309, + 167.7583608177213, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 86.26732714378309, + 165.16028460636798, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 84.76732714378309, + 162.56220839501466, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 83.26732714378309, + 159.96413218366135, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 81.76732714378309, + 157.36605597230803, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 81.76732714378309, + 157.36605597230803, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 79.16925093242978, + 155.86605597230803, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 76.57117472107646, + 154.36605597230803, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 73.97309850972314, + 152.86605597230803, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 60.0, + 136.0, + 91.3676 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-56-13_1750003033/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-56-13_1750003033/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf3ff7c7d74c11a6613c09726115c6a22f2c2954 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-56-13_1750003033/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -98.48530959054017, + 240.91608012778744, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -96.98530959054017, + 238.31800391643412, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -95.48530959054017, + 235.7199277050808, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -93.98530959054017, + 233.1218514937275, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -93.98530959054017, + 233.1218514937275, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -91.38723337918685, + 231.6218514937275, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -88.78915716783354, + 230.1218514937275, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -86.19108095648022, + 228.6218514937275, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -83.5930047451269, + 227.1218514937275, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -80.99492853377359, + 225.6218514937275, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -78.39685232242027, + 224.1218514937275, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -78.39685232242027, + 224.1218514937275, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -76.89685232242027, + 221.52377528237417, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -75.39685232242027, + 218.92569907102086, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -73.89685232242027, + 216.32762285966754, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -72.39685232242027, + 213.72954664831423, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -44.0, + 184.0, + 102.868 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-56-1_739273303/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-56-1_739273303/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5fce12402bb71f253540301f3e011df36bebc659 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-56-1_739273303/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 178.00566321493517, + -272.38119294505833, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 180.60373942628848, + -270.88119294505833, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 183.2018156376418, + -269.38119294505833, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 185.79989184899512, + -267.88119294505833, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 188.39796806034843, + -266.38119294505833, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 190.99604427170175, + -264.88119294505833, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 193.59412048305506, + -263.38119294505833, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 196.19219669440838, + -261.88119294505833, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 198.7902729057617, + -260.38119294505833, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 201.388349117115, + -258.88119294505833, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 203.98642532846833, + -257.38119294505833, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 206.58450153982164, + -255.88119294505833, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 209.18257775117496, + -254.38119294505833, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 211.78065396252828, + -252.88119294505833, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 211.78065396252828, + -252.88119294505833, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 213.28065396252828, + -250.28311673370501, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 214.78065396252828, + -247.6850405223517, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 216.28065396252828, + -245.08696431099838, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 244.0, + -224.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-56-42_78012497/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-56-42_78012497/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..83c6a6e860204eba5d6e164c2be28f03e2e4d3b1 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-56-42_78012497/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -210.76995739865663, + 137.33821694707123, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -207.76995739865663, + 137.33821694707123, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -204.76995739865663, + 137.33821694707123, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -201.76995739865663, + 137.33821694707123, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -198.76995739865663, + 137.33821694707123, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -198.76995739865663, + 137.33821694707123, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -196.1718811873033, + 135.83821694707123, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -193.57380497595, + 134.33821694707123, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -190.97572876459668, + 132.83821694707123, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -188.37765255324337, + 131.33821694707123, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -185.77957634189005, + 129.83821694707123, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -183.18150013053673, + 128.33821694707123, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -180.58342391918342, + 126.83821694707123, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -177.9853477078301, + 125.33821694707123, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -175.38727149647679, + 123.83821694707123, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -172.78919528512347, + 122.33821694707123, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -170.19111907377015, + 120.83821694707123, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -167.59304286241684, + 119.33821694707123, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -164.99496665106352, + 117.83821694707123, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -162.3968904397102, + 116.33821694707123, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -159.7988142283569, + 114.83821694707123, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -157.20073801700357, + 113.33821694707123, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 104.0, + 94.1833 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-56-56_552910253/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-56-56_552910253/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4a00444e9d9476a841227c20d7292c47e8d38aa --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-56-56_552910253/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 183.09357695384148, + -82.91678310826475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 180.49550074248816, + -84.41678310826475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 177.89742453113485, + -85.91678310826475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 175.29934831978153, + -87.41678310826475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 172.7012721084282, + -88.91678310826475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 170.1031958970749, + -90.41678310826475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 167.50511968572158, + -91.91678310826475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 164.90704347436827, + -93.41678310826475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 162.30896726301495, + -94.91678310826475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 159.71089105166163, + -96.41678310826475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 157.11281484030832, + -97.91678310826475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 154.514738628955, + -99.41678310826475, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 154.514738628955, + -99.41678310826475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 151.514738628955, + -99.41678310826475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 148.514738628955, + -99.41678310826475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 145.514738628955, + -99.41678310826475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 142.514738628955, + -99.41678310826475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 139.514738628955, + -99.41678310826475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 136.514738628955, + -99.41678310826475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 133.514738628955, + -99.41678310826475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 130.514738628955, + -99.41678310826475, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 127.514738628955, + -99.41678310826475, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.0, + -104.0, + 98.4565 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-57-56_474613996/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-57-56_474613996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..710d1488f7dfdf764f59316b72dad7bdd65fb523 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-57-56_474613996/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -300.1064116081772, + -245.71016754595956, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -297.1064116081772, + -245.71016754595956, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -294.1064116081772, + -245.71016754595956, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -291.1064116081772, + -245.71016754595956, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -288.1064116081772, + -245.71016754595956, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -288.1064116081772, + -245.71016754595956, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -288.1064116081772, + -245.71016754595956, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -286.6064116081772, + -248.30824375731288, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -285.1064116081772, + -250.9063199686662, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -283.6064116081772, + -253.5043961800195, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -282.1064116081772, + -256.1024723913728, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -280.6064116081772, + -258.70054860272614, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -279.1064116081772, + -261.29862481407946, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -277.6064116081772, + -263.8967010254328, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -277.6064116081772, + -263.8967010254328, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -275.0083353968239, + -265.3967010254328, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -272.4102591854706, + -266.8967010254328, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -269.81218297411726, + -268.3967010254328, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -267.21410676276395, + -269.8967010254328, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -264.61603055141063, + -271.3967010254328, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -262.0179543400573, + -272.8967010254328, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -259.419878128704, + -274.3967010254328, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -256.8218019173507, + -275.8967010254328, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -254.22372570599737, + -277.3967010254328, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -300.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-58-10_425245975/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-58-10_425245975/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c6670bebb9746b8eeea3d3bc8cdb61a80cea1c29 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-58-10_425245975/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 275.18789466892173, + -285.58981983966396, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 273.68789466892173, + -282.99174362831064, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 272.18789466892173, + -280.3936674169573, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 270.68789466892173, + -277.795591205604, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 269.18789466892173, + -275.1975149942507, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 267.68789466892173, + -272.5994387828974, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 266.18789466892173, + -270.00136257154406, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 264.68789466892173, + -267.40328636019075, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 263.18789466892173, + -264.80521014883743, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 261.68789466892173, + -262.2071339374841, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 260.18789466892173, + -259.6090577261308, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 258.68789466892173, + -257.0109815147775, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 244.0, + -224.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-59-47_677870460/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-59-47_677870460/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d63602681c5a09a31405a7d59e35db008fb89c10 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-59-47_677870460/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 18.074947228856132, + -12.753408765334811, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 21.074947228856132, + -12.753408765334811, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 24.074947228856132, + -12.753408765334811, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 27.074947228856132, + -12.753408765334811, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 30.074947228856132, + -12.753408765334811, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 30.074947228856132, + -12.753408765334811, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 32.67302344020945, + -14.253408765334811, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 35.271099651562764, + -15.753408765334811, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 37.86917586291608, + -17.25340876533481, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 40.467252074269396, + -18.75340876533481, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 43.06532828562271, + -20.25340876533481, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 45.66340449697603, + -21.75340876533481, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 48.261480708329344, + -23.25340876533481, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 50.85955691968266, + -24.75340876533481, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 53.457633131035976, + -26.25340876533481, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 56.05570934238929, + -27.75340876533481, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 58.65378555374261, + -29.25340876533481, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 61.251861765095924, + -30.75340876533481, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 63.84993797644924, + -32.25340876533481, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 66.44801418780256, + -33.75340876533481, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 100.0, + -52.0, + 103.289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-6-16_1350573793/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-6-16_1350573793/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8dd696d0c0de9773ae286bf791373a27cc09891d --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-6-16_1350573793/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -150.74759146847714, + -122.67150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -153.34566767983046, + -121.17150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -155.94374389118377, + -119.67150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -158.5418201025371, + -118.17150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -161.1398963138904, + -116.67150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -163.73797252524372, + -115.17150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -166.33604873659704, + -113.67150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -168.93412494795035, + -112.17150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -171.53220115930367, + -110.67150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -174.13027737065698, + -109.17150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -176.7283535820103, + -107.67150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -179.32642979336362, + -106.17150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -181.92450600471693, + -104.67150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -184.52258221607025, + -103.17150926730875, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -184.52258221607025, + -103.17150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -187.52258221607025, + -103.17150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -190.52258221607025, + -103.17150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -193.52258221607025, + -103.17150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -196.52258221607025, + -103.17150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -199.52258221607025, + -103.17150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -202.52258221607025, + -103.17150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -205.52258221607025, + -103.17150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -208.52258221607025, + -103.17150926730875, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -211.52258221607025, + -103.17150926730875, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -244.0, + -96.0, + 98.8047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-6-31_76065818/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-6-31_76065818/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a20bd0472d020fb56707687d8144cd6a64c159d3 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-6-31_76065818/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 101.97298308662504, + 43.29854214924448, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 101.97298308662504, + 40.29854214924448, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 101.97298308662504, + 37.29854214924448, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 101.97298308662504, + 34.29854214924448, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 101.97298308662504, + 31.298542149244483, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 101.97298308662504, + 28.298542149244483, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 101.97298308662504, + 25.298542149244483, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 101.97298308662504, + 22.298542149244483, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 101.97298308662504, + 19.298542149244483, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 101.97298308662504, + 16.298542149244483, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 101.97298308662504, + 13.298542149244483, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 101.97298308662504, + 10.298542149244483, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 101.97298308662504, + 7.298542149244483, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 101.97298308662504, + 4.298542149244483, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 101.97298308662504, + 1.2985421492444829, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 101.97298308662504, + -1.7014578507555171, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 101.97298308662504, + -4.701457850755517, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 101.97298308662504, + -7.701457850755517, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 101.97298308662504, + -10.701457850755517, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 101.97298308662504, + -13.701457850755517, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 101.97298308662504, + -16.701457850755517, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 101.97298308662504, + -19.701457850755517, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 101.97298308662504, + -22.701457850755517, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 101.97298308662504, + -25.701457850755517, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 101.97298308662504, + -28.701457850755517, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 101.97298308662504, + -31.701457850755517, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 100.0, + -52.0, + 103.289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-7-42_1784639529/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-7-42_1784639529/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ce8f898c5bd7d445b7fab93a3d2d2160b42023bf --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-7-42_1784639529/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 178.09199287450318, + -160.96946617328692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 175.49391666314986, + -162.46946617328692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 172.89584045179654, + -163.96946617328692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 170.29776424044323, + -165.46946617328692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 167.6996880290899, + -166.96946617328692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 165.1016118177366, + -168.46946617328692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 162.50353560638328, + -169.96946617328692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 159.90545939502996, + -171.46946617328692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 157.30738318367665, + -172.96946617328692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 154.70930697232333, + -174.46946617328692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 152.11123076097002, + -175.96946617328692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 149.5131545496167, + -177.46946617328692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 146.91507833826338, + -178.96946617328692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 144.31700212691007, + -180.46946617328692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 141.71892591555675, + -181.96946617328692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 139.12084970420344, + -183.46946617328692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 136.52277349285012, + -184.96946617328692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 133.9246972814968, + -186.46946617328692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 131.3266210701435, + -187.96946617328692, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 131.3266210701435, + -187.96946617328692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 128.3266210701435, + -187.96946617328692, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 125.32662107014349, + -187.96946617328692, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + -204.0, + 89.0484 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-8-22_1939964443/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-8-22_1939964443/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..01fe8b00c74b45ad5099ed505c2b7e0504be4a51 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-8-22_1939964443/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 53.695160517733186, + -157.5695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 53.695160517733186, + -154.5695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 53.695160517733186, + -151.5695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 53.695160517733186, + -148.5695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 53.695160517733186, + -145.5695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 53.695160517733186, + -142.5695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 53.695160517733186, + -139.5695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 53.695160517733186, + -136.5695725745544, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 53.695160517733186, + -136.5695725745544, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 53.695160517733186, + -136.5695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 56.2932367290865, + -135.0695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 58.89131294043982, + -133.5695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 61.489389151793134, + -132.0695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 64.08746536314645, + -130.5695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 66.68554157449977, + -129.0695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 69.28361778585308, + -127.5695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 71.8816939972064, + -126.0695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 74.47977020855971, + -124.5695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 77.07784641991303, + -123.0695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 79.67592263126635, + -121.5695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 82.27399884261966, + -120.0695725745544, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 82.27399884261966, + -120.0695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 85.27399884261966, + -120.0695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 88.27399884261966, + -120.0695725745544, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 91.27399884261966, + -120.0695725745544, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.0, + -104.0, + 98.4565 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-8-37_2112255763/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-8-37_2112255763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e9588a51a6cdc652c9a2a7a32b88d6eb5025cf92 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_21-8-37_2112255763/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 114.97911153092863, + 90.98926501408047, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 112.38103531957532, + 92.48926501408047, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 109.782959108222, + 93.98926501408047, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 107.18488289686869, + 95.48926501408047, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 104.58680668551537, + 96.98926501408047, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 101.98873047416205, + 98.48926501408047, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 99.39065426280874, + 99.98926501408047, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 96.79257805145542, + 101.48926501408047, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 94.1945018401021, + 102.98926501408047, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 94.1945018401021, + 102.98926501408047, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 92.6945018401021, + 105.58734122543379, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 91.1945018401021, + 108.1854174367871, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 89.6945018401021, + 110.78349364814042, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 88.1945018401021, + 113.38156985949374, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 60.0, + 136.0, + 91.3676 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_22-2-3_1583571043/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_22-2-3_1583571043/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90b14daa84a864a56ac6c4f7e075b00d9bac3494 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_22-2-3_1583571043/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -180.6792743798904, + -138.53330552577904, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -182.1792743798904, + -141.13138173713236, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -183.6792743798904, + -143.72945794848567, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -185.1792743798904, + -146.327534159839, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -186.6792743798904, + -148.9256103711923, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -188.1792743798904, + -151.52368658254562, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -189.6792743798904, + -154.12176279389894, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -191.1792743798904, + -156.71983900525225, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -192.6792743798904, + -159.31791521660557, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -194.1792743798904, + -161.9159914279589, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -195.6792743798904, + -164.5140676393122, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -197.1792743798904, + -167.11214385066552, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -198.6792743798904, + -169.71022006201883, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -200.1792743798904, + -172.30829627337215, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -201.6792743798904, + -174.90637248472547, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -203.1792743798904, + -177.50444869607878, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -203.1792743798904, + -177.50444869607878, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -205.7773505912437, + -179.00444869607878, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -208.37542680259702, + -180.50444869607878, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_22-2-48_1186090428/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_22-2-48_1186090428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ce276c1d2dffd1b7cad297b7d8bbf19dc5f31fbb --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_22-2-48_1186090428/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -127.24443006482532, + 213.6008974324855, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -124.24443006482532, + 213.6008974324855, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -121.24443006482532, + 213.6008974324855, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -118.24443006482532, + 213.6008974324855, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -115.24443006482532, + 213.6008974324855, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -112.24443006482532, + 213.6008974324855, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -109.24443006482532, + 213.6008974324855, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -109.24443006482532, + 213.6008974324855, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -106.64635385347201, + 212.1008974324855, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -104.04827764211869, + 210.6008974324855, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -101.45020143076538, + 209.1008974324855, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -98.85212521941206, + 207.6008974324855, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -96.25404900805874, + 206.1008974324855, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -93.65597279670543, + 204.6008974324855, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -91.05789658535211, + 203.1008974324855, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -88.4598203739988, + 201.6008974324855, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -85.86174416264548, + 200.1008974324855, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -44.0, + 184.0, + 102.868 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_22-3-0_1974806403/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_22-3-0_1974806403/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..599fe14ada18df6b40378f50549d99b8d8989acd --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_22-3-0_1974806403/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -217.4387294898044, + -138.81354433611045, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -217.4387294898044, + -141.81354433611045, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -217.4387294898044, + -144.81354433611045, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -217.4387294898044, + -147.81354433611045, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -217.4387294898044, + -150.81354433611045, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -217.4387294898044, + -153.81354433611045, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -217.4387294898044, + -156.81354433611045, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -217.4387294898044, + -159.81354433611045, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -217.4387294898044, + -162.81354433611045, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -217.4387294898044, + -165.81354433611045, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -217.4387294898044, + -168.81354433611045, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -217.4387294898044, + -171.81354433611045, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -217.4387294898044, + -174.81354433611045, + 103.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -217.4387294898044, + -174.81354433611045, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -218.9387294898044, + -177.41162054746377, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -220.4387294898044, + -180.00969675881709, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -221.9387294898044, + -182.6077729701704, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_22-3-13_1473144500/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_22-3-13_1473144500/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ebe956d0f3dd75e340506323bbd173e0d4448757 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_22-3-13_1473144500/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 269.41766824650875, + -191.27166218551366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 272.01574445786207, + -192.77166218551366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 274.6138206692154, + -194.27166218551366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 277.2118968805687, + -195.77166218551366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 279.809973091922, + -197.27166218551366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 282.40804930327533, + -198.77166218551366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 285.00612551462865, + -200.27166218551366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 287.60420172598197, + -201.77166218551366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 290.2022779373353, + -203.27166218551366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 292.8003541486886, + -204.77166218551366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 295.3984303600419, + -206.27166218551366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 297.99650657139523, + -207.77166218551366, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + -224.0, + 90.3059 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +}