diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_15-49-34_1176911340/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_15-49-34_1176911340/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e2f38a8ae401a2f97cd326ccdd52dc5d10ddd1b8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_15-49-34_1176911340/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 262.310207358084, + 677.5037728377522, + 16.239724771152638 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 259.7121311467307, + 676.0037728377522, + 16.239724771152638 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 257.1140549353774, + 674.5037728377522, + 16.239724771152638 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 254.51597872402408, + 673.0037728377522, + 16.239724771152638 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 251.91790251267076, + 671.5037728377522, + 16.239724771152638 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 249.31982630131745, + 670.0037728377522, + 16.239724771152638 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 246.72175008996413, + 668.5037728377522, + 16.239724771152638 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 244.12367387861082, + 667.0037728377522, + 16.239724771152638 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 241.5255976672575, + 665.5037728377522, + 16.239724771152638 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 238.92752145590418, + 664.0037728377522, + 16.239724771152638 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 236.32944524455087, + 662.5037728377522, + 16.239724771152638 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 236.32944524455087, + 662.5037728377522, + 16.239724771152638 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 233.32944524455087, + 662.5037728377522, + 16.239724771152638 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 230.32944524455087, + 662.5037728377522, + 16.239724771152638 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 208.0, + 652.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_15-5-16_221558440/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_15-5-16_221558440/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..957a533bfcc96369082c089f616beb38fefe96bf --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_15-5-16_221558440/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1033.4577333380116, + -400.59837693215695, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1030.8596571266582, + -399.09837693215695, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1028.2615809153049, + -397.59837693215695, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1025.6635047039515, + -396.09837693215695, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1023.0654284925981, + -394.59837693215695, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1020.4673522812448, + -393.09837693215695, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1017.8692760698914, + -391.59837693215695, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1015.271199858538, + -390.09837693215695, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1012.6731236471846, + -388.59837693215695, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1010.0750474358313, + -387.09837693215695, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1007.4769712244779, + -385.59837693215695, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1004.8788950131245, + -384.09837693215695, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1002.2808188017711, + -382.59837693215695, + 21.882628712197274 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1002.2808188017711, + -382.59837693215695, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1000.7808188017711, + -380.00030072080364, + 21.882628712197274 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1000.7808188017711, + -380.00030072080364, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 998.1827425904178, + -378.50030072080364, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 995.5846663790644, + -377.00030072080364, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 992.986590167711, + -375.50030072080364, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 990.3885139563577, + -374.00030072080364, + 21.882628712197274 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 990.3885139563577, + -374.00030072080364, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 987.3885139563577, + -374.00030072080364, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 984.3885139563577, + -374.00030072080364, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 981.3885139563577, + -374.00030072080364, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 978.3885139563577, + -374.00030072080364, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 975.3885139563577, + -374.00030072080364, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 972.3885139563577, + -374.00030072080364, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 969.3885139563577, + -374.00030072080364, + 21.882628712197274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 966.3885139563577, + -374.00030072080364, + 21.882628712197274 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 944.0, + -364.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_15-50-11_1943327684/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_15-50-11_1943327684/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b33d372fb51b16ef717acabbe0ca4e06ee6946e7 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_15-50-11_1943327684/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2903.0245939140245, + 1879.2347612882359, + 34.06973890451406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2905.6226701253777, + 1880.7347612882359, + 34.06973890451406 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2908.220746336731, + 1882.2347612882359, + 34.06973890451406 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2908.220746336731, + 1882.2347612882359, + 34.06973890451406 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2911.220746336731, + 1882.2347612882359, + 34.06973890451406 + ], + "type": "stop", + "value": 0, + "yaw": 3.1415926535897647 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2992.0, + 1908.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_15-53-45_298625210/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_15-53-45_298625210/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3aab2188eb2a5146df1e23675ecd149e689c195c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_15-53-45_298625210/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -669.8358619162374, + 2086.110322436349, + 25.912924848380502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -672.8358619162374, + 2086.110322436349, + 25.912924848380502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -675.8358619162374, + 2086.110322436349, + 25.912924848380502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -678.8358619162374, + 2086.110322436349, + 25.912924848380502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -681.8358619162374, + 2086.110322436349, + 25.912924848380502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -684.8358619162374, + 2086.110322436349, + 25.912924848380502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -687.8358619162374, + 2086.110322436349, + 25.912924848380502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -690.8358619162374, + 2086.110322436349, + 25.912924848380502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -693.8358619162374, + 2086.110322436349, + 25.912924848380502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -696.8358619162374, + 2086.110322436349, + 25.912924848380502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -699.8358619162374, + 2086.110322436349, + 25.912924848380502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -702.8358619162374, + 2086.110322436349, + 25.912924848380502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -705.8358619162374, + 2086.110322436349, + 25.912924848380502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -708.8358619162374, + 2086.110322436349, + 25.912924848380502 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -708.8358619162374, + 2086.110322436349, + 25.912924848380502 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -711.4339381275906, + 2084.610322436349, + 25.912924848380502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -714.032014338944, + 2083.110322436349, + 25.912924848380502 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991485 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -756.0, + 2080.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_15-8-3_498777856/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_15-8-3_498777856/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a53e653ab23dd0a2fc38b9477e33e28afd7d9f8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_15-8-3_498777856/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2596.6371376732786, + 73.5403798615597, + 20.05694112231442 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2596.6371376732786, + 76.5403798615597, + 20.05694112231442 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2596.6371376732786, + 79.5403798615597, + 20.05694112231442 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2596.6371376732786, + 82.5403798615597, + 20.05694112231442 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2596.6371376732786, + 85.5403798615597, + 20.05694112231442 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2596.6371376732786, + 85.5403798615597, + 20.05694112231442 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2598.1371376732786, + 88.13845607291302, + 20.05694112231442 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2598.1371376732786, + 88.13845607291302, + 20.05694112231442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2600.735213884632, + 89.63845607291302, + 20.05694112231442 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2603.333290095985, + 91.13845607291302, + 20.05694112231442 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2603.333290095985, + 91.13845607291302, + 20.05694112231442 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2604.833290095985, + 93.73653228426633, + 20.05694112231442 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2606.333290095985, + 96.33460849561965, + 20.05694112231442 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2606.333290095985, + 96.33460849561965, + 20.05694112231442 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2606.333290095985, + 99.33460849561965, + 20.05694112231442 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2606.333290095985, + 102.33460849561965, + 20.05694112231442 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2606.333290095985, + 105.33460849561965, + 20.05694112231442 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2606.333290095985, + 108.33460849561965, + 20.05694112231442 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2606.333290095985, + 108.33460849561965, + 20.05694112231442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2604.833290095985, + 110.93268470697296, + 20.05694112231442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2603.333290095985, + 113.53076091832628, + 20.05694112231442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2601.833290095985, + 116.1288371296796, + 20.05694112231442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2600.333290095985, + 118.72691334103291, + 20.05694112231442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2598.833290095985, + 121.32498955238623, + 20.05694112231442 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2600.0, + 144.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-10-19_1662981776/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-10-19_1662981776/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b856afbb8ea5dea1001b2722dc5885604bf059a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-10-19_1662981776/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1420.9302248024921, + 972.0037974721348, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1422.4302248024921, + 974.6018736834881, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1423.9302248024921, + 977.1999498948414, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1425.4302248024921, + 979.7980261061948, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1426.9302248024921, + 982.3961023175482, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1428.4302248024921, + 984.9941785289016, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1429.9302248024921, + 987.5922547402549, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1431.4302248024921, + 990.1903309516083, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1432.9302248024921, + 992.7884071629617, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1434.4302248024921, + 995.386483374315, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1435.9302248024921, + 997.9845595856684, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1437.4302248024921, + 1000.5826357970218, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1438.9302248024921, + 1003.1807120083752, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1440.4302248024921, + 1005.7787882197285, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1441.9302248024921, + 1008.3768644310819, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1443.4302248024921, + 1010.9749406424353, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1444.9302248024921, + 1013.5730168537887, + 31.262848790771752 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1444.9302248024921, + 1013.5730168537887, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1444.9302248024921, + 1016.5730168537887, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1444.9302248024921, + 1019.5730168537887, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1444.9302248024921, + 1022.5730168537887, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1444.9302248024921, + 1025.5730168537887, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1444.9302248024921, + 1028.5730168537887, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1444.9302248024921, + 1031.5730168537887, + 31.262848790771752 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1444.9302248024921, + 1031.5730168537887, + 31.262848790771752 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1444.9302248024921, + 1031.5730168537887, + 31.262848790771752 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1444.9302248024921, + 1031.5730168537887, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1447.9302248024921, + 1031.5730168537887, + 31.262848790771752 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1447.9302248024921, + 1031.5730168537887, + 31.262848790771752 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1450.5283010138455, + 1033.0730168537887, + 31.262848790771752 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1464.0, + 1052.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-22-28_739273303/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-22-28_739273303/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f2931a40e71718ea30ebb09c21d9e5c3b429bb8c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-22-28_739273303/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 992.529713387395, + 1971.5663142337041, + 27.093684355997674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 989.9316371760417, + 1970.0663142337041, + 27.093684355997674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 987.3335609646883, + 1968.5663142337041, + 27.093684355997674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 984.735484753335, + 1967.0663142337041, + 27.093684355997674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 982.1374085419816, + 1965.5663142337041, + 27.093684355997674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 979.5393323306282, + 1964.0663142337041, + 27.093684355997674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 976.9412561192748, + 1962.5663142337041, + 27.093684355997674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 974.3431799079215, + 1961.0663142337041, + 27.093684355997674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 971.7451036965681, + 1959.5663142337041, + 27.093684355997674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 969.1470274852147, + 1958.0663142337041, + 27.093684355997674 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 920.0, + 1928.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-32-24_1144522535/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-32-24_1144522535/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a844ad6686a2b61e5a41926976289dbe4a14869 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-32-24_1144522535/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2225.5931460534207, + -198.79214686068659, + 24.94395143247565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2222.5931460534207, + -198.79214686068659, + 24.94395143247565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2219.5931460534207, + -198.79214686068659, + 24.94395143247565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2216.5931460534207, + -198.79214686068659, + 24.94395143247565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2213.5931460534207, + -198.79214686068659, + 24.94395143247565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2210.5931460534207, + -198.79214686068659, + 24.94395143247565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2207.5931460534207, + -198.79214686068659, + 24.94395143247565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2204.5931460534207, + -198.79214686068659, + 24.94395143247565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2201.5931460534207, + -198.79214686068659, + 24.94395143247565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2198.5931460534207, + -198.79214686068659, + 24.94395143247565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2195.5931460534207, + -198.79214686068659, + 24.94395143247565 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2195.5931460534207, + -198.79214686068659, + 24.94395143247565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2192.9950698420676, + -200.29214686068659, + 24.94395143247565 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2190.3969936307144, + -201.79214686068659, + 24.94395143247565 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2187.7989174193613, + -203.29214686068659, + 24.94395143247565 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2160.0, + -208.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-36-27_1329202900/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-36-27_1329202900/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d01f702cee251677060ad08431d248040ca68aa9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-36-27_1329202900/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2812.704345696888, + -2168.081878030942, + 37.674926464798276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2815.704345696888, + -2168.081878030942, + 37.674926464798276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2818.704345696888, + -2168.081878030942, + 37.674926464798276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2821.704345696888, + -2168.081878030942, + 37.674926464798276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2824.704345696888, + -2168.081878030942, + 37.674926464798276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2827.704345696888, + -2168.081878030942, + 37.674926464798276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2830.704345696888, + -2168.081878030942, + 37.674926464798276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2833.704345696888, + -2168.081878030942, + 37.674926464798276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2836.704345696888, + -2168.081878030942, + 37.674926464798276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2839.704345696888, + -2168.081878030942, + 37.674926464798276 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2839.704345696888, + -2168.081878030942, + 37.674926464798276 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2839.704345696888, + -2168.081878030942, + 37.674926464798276 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2841.204345696888, + -2165.4838018195887, + 37.674926464798276 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2842.704345696888, + -2162.8857256082356, + 37.674926464798276 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2876.0, + -2152.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-37-53_561717988/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-37-53_561717988/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b7df55694bbbec00b2f67653cf00acd0f72f074f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-37-53_561717988/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4695.767908339632, + -203.2847351258511, + 31.183507404904503 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4693.169832128279, + -201.7847351258511, + 31.183507404904503 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4690.571755916926, + -200.2847351258511, + 31.183507404904503 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4687.973679705573, + -198.7847351258511, + 31.183507404904503 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4685.37560349422, + -197.2847351258511, + 31.183507404904503 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4682.777527282867, + -195.7847351258511, + 31.183507404904503 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4680.1794510715135, + -194.2847351258511, + 31.183507404904503 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4677.58137486016, + -192.7847351258511, + 31.183507404904503 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4677.58137486016, + -192.7847351258511, + 31.183507404904503 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4676.08137486016, + -190.1866589144978, + 31.183507404904503 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4674.58137486016, + -187.58858270314448, + 31.183507404904503 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4673.08137486016, + -184.99050649179117, + 31.183507404904503 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4652.0, + -160.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-38-48_733053144/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-38-48_733053144/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e9a92f8f9f63813d48dedd83cd9884a610377a88 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-38-48_733053144/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 121.16263793801801, + 1343.6783467108755, + 32.06847554038673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 118.56456172666469, + 1342.1783467108755, + 32.06847554038673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 115.96648551531138, + 1340.6783467108755, + 32.06847554038673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 113.36840930395806, + 1339.1783467108755, + 32.06847554038673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 110.77033309260474, + 1337.6783467108755, + 32.06847554038673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 108.17225688125143, + 1336.1783467108755, + 32.06847554038673 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 108.17225688125143, + 1336.1783467108755, + 32.06847554038673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 106.67225688125143, + 1333.5802704995222, + 32.06847554038673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 105.17225688125143, + 1330.9821942881688, + 32.06847554038673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 103.67225688125143, + 1328.3841180768154, + 32.06847554038673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 102.17225688125143, + 1325.786041865462, + 32.06847554038673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 100.67225688125143, + 1323.1879656541087, + 32.06847554038673 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 72.0, + 1296.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-40-14_400000569/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-40-14_400000569/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99482f2c251be9e67c13b079a7a69e8136f29718 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-40-14_400000569/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2503.445834333839, + -1901.907246078773, + 18.950010836153588 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2506.445834333839, + -1901.907246078773, + 18.950010836153588 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2509.445834333839, + -1901.907246078773, + 18.950010836153588 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2512.445834333839, + -1901.907246078773, + 18.950010836153588 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2515.445834333839, + -1901.907246078773, + 18.950010836153588 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2515.445834333839, + -1901.907246078773, + 18.950010836153588 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2518.043910545192, + -1900.407246078773, + 18.950010836153588 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2520.641986756545, + -1898.907246078773, + 18.950010836153588 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2523.240062967898, + -1897.407246078773, + 18.950010836153588 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2525.8381391792514, + -1895.907246078773, + 18.950010836153588 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2528.4362153906045, + -1894.407246078773, + 18.950010836153588 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2572.0, + -1884.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-43-6_1989806367/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-43-6_1989806367/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b7628dfbaa29b1fe9262b690f05b60a487fd8d96 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-43-6_1989806367/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3276.926944961545, + -794.6901526298277, + 35.96628822825103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3273.926944961545, + -794.6901526298277, + 35.96628822825103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3270.926944961545, + -794.6901526298277, + 35.96628822825103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3267.926944961545, + -794.6901526298277, + 35.96628822825103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3264.926944961545, + -794.6901526298277, + 35.96628822825103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3261.926944961545, + -794.6901526298277, + 35.96628822825103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3258.926944961545, + -794.6901526298277, + 35.96628822825103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3255.926944961545, + -794.6901526298277, + 35.96628822825103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3252.926944961545, + -794.6901526298277, + 35.96628822825103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3249.926944961545, + -794.6901526298277, + 35.96628822825103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3246.926944961545, + -794.6901526298277, + 35.96628822825103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3243.926944961545, + -794.6901526298277, + 35.96628822825103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3240.926944961545, + -794.6901526298277, + 35.96628822825103 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3240.926944961545, + -794.6901526298277, + 35.96628822825103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3238.3288687501918, + -793.1901526298277, + 35.96628822825103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3235.7307925388386, + -791.6901526298277, + 35.96628822825103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3233.1327163274855, + -790.1901526298277, + 35.96628822825103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3230.5346401161323, + -788.6901526298277, + 35.96628822825103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3227.936563904779, + -787.1901526298277, + 35.96628822825103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3225.338487693426, + -785.6901526298277, + 35.96628822825103 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3204.0, + -784.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-45-1_1411328205/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-45-1_1411328205/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f0f5c295884b64a82c0c62a63d914900b131a77 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-45-1_1411328205/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 280.9371632015086, + 50.59651675629804, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 283.5352394128619, + 52.09651675629804, + 18.595375271102984 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 283.5352394128619, + 52.09651675629804, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 285.0352394128619, + 54.69459296765135, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 286.5352394128619, + 57.29266917900467, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 288.0352394128619, + 59.890745390357985, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 289.5352394128619, + 62.4888216017113, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 291.0352394128619, + 65.08689781306461, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965965 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 292.5352394128619, + 67.68497402441793, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 294.0352394128619, + 70.28305023577124, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 295.5352394128619, + 72.88112644712456, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 297.0352394128619, + 75.47920265847787, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 298.5352394128619, + 78.07727886983119, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 300.0352394128619, + 80.6753550811845, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 301.5352394128619, + 83.27343129253782, + 18.595375271102984 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 301.5352394128619, + 83.27343129253782, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 304.13331562421524, + 84.77343129253782, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 306.73139183556856, + 86.27343129253782, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 309.3294680469219, + 87.77343129253782, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 311.9275442582752, + 89.27343129253782, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 314.5256204696285, + 90.77343129253782, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 317.1236966809818, + 92.27343129253782, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 319.72177289233514, + 93.77343129253782, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 322.31984910368845, + 95.27343129253782, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 324.91792531504177, + 96.77343129253782, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 327.5160015263951, + 98.27343129253782, + 18.595375271102984 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 327.5160015263951, + 98.27343129253782, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 330.5160015263951, + 98.27343129253782, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 333.5160015263951, + 98.27343129253782, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 336.5160015263951, + 98.27343129253782, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 339.5160015263951, + 98.27343129253782, + 18.595375271102984 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 342.5160015263951, + 98.27343129253782, + 18.595375271102984 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.0, + 108.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-46-58_1707056552/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-46-58_1707056552/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..201a0bdd05f5fd692d7b9fdef082dd8493dd0c2c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-46-58_1707056552/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 108.53675314683696, + -242.79390520243464, + 21.997651632817472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 111.13482935819027, + -241.29390520243464, + 21.997651632817472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 113.73290556954359, + -239.79390520243464, + 21.997651632817472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 116.3309817808969, + -238.29390520243464, + 21.997651632817472 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 116.3309817808969, + -238.29390520243464, + 21.997651632817472 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 116.3309817808969, + -238.29390520243464, + 21.997651632817472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 116.3309817808969, + -235.29390520243464, + 21.997651632817472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 116.3309817808969, + -232.29390520243464, + 21.997651632817472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 116.3309817808969, + -229.29390520243464, + 21.997651632817472 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 116.3309817808969, + -229.29390520243464, + 21.997651632817472 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 116.3309817808969, + -229.29390520243464, + 21.997651632817472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 118.92905799225022, + -227.79390520243464, + 21.997651632817472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 121.52713420360354, + -226.29390520243464, + 21.997651632817472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 124.12521041495685, + -224.79390520243464, + 21.997651632817472 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 152.0, + -200.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-58-23_1282648518/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-58-23_1282648518/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ccee78d3f3ecf7b5966161b20062058093487679 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-58-23_1282648518/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -485.0650949082337, + -143.57097605147675, + 28.090365306438173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -483.5650949082337, + -140.97289984012343, + 28.090365306438173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -482.0650949082337, + -138.37482362877012, + 28.090365306438173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -480.5650949082337, + -135.7767474174168, + 28.090365306438173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -479.0650949082337, + -133.17867120606348, + 28.090365306438173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -477.5650949082337, + -130.58059499471017, + 28.090365306438173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -476.0650949082337, + -127.98251878335685, + 28.090365306438173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -474.5650949082337, + -125.38444257200354, + 28.090365306438173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -473.0650949082337, + -122.78636636065022, + 28.090365306438173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -471.5650949082337, + -120.1882901492969, + 28.090365306438173 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -470.0650949082337, + -117.59021393794359, + 28.090365306438173 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -444.0, + -60.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-9-22_292218004/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-9-22_292218004/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0940032196fedfd428985f6fd115b916c1f97b0c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-9-22_292218004/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1012.8693929281119, + -400.22388180499445, + 20.862388650968207 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1012.8693929281119, + -397.22388180499445, + 20.862388650968207 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1012.8693929281119, + -394.22388180499445, + 20.862388650968207 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1012.8693929281119, + -391.22388180499445, + 20.862388650968207 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1012.8693929281119, + -388.22388180499445, + 20.862388650968207 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1012.8693929281119, + -385.22388180499445, + 20.862388650968207 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1012.8693929281119, + -382.22388180499445, + 20.862388650968207 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1012.8693929281119, + -379.22388180499445, + 20.862388650968207 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1012.8693929281119, + -376.22388180499445, + 20.862388650968207 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1012.8693929281119, + -373.22388180499445, + 20.862388650968207 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1012.8693929281119, + -370.22388180499445, + 20.862388650968207 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1012.8693929281119, + -367.22388180499445, + 20.862388650968207 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1012.8693929281119, + -364.22388180499445, + 20.862388650968207 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1012.8693929281119, + -361.22388180499445, + 20.862388650968207 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1012.0, + -336.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-9-35_882160379/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-9-35_882160379/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d42ecc5e50332e1b1649b7cbe8f25db207f34229 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_16-9-35_882160379/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2516.4362364179124, + -1890.3459552895333, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2519.0343126292655, + -1888.8459552895333, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2521.6323888406187, + -1887.3459552895333, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2524.230465051972, + -1885.8459552895333, + 16.361938628041642 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2524.230465051972, + -1885.8459552895333, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2525.730465051972, + -1883.24787907818, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2527.230465051972, + -1880.6498028668266, + 16.361938628041642 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2527.230465051972, + -1880.6498028668266, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2527.230465051972, + -1877.6498028668266, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2527.230465051972, + -1874.6498028668266, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2527.230465051972, + -1871.6498028668266, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2527.230465051972, + -1868.6498028668266, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2527.230465051972, + -1865.6498028668266, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2527.230465051972, + -1862.6498028668266, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2527.230465051972, + -1859.6498028668266, + 16.361938628041642 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2527.230465051972, + -1859.6498028668266, + 16.361938628041642 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2527.230465051972, + -1859.6498028668266, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2524.6323888406187, + -1858.1498028668266, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2522.0343126292655, + -1856.6498028668266, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2519.4362364179124, + -1855.1498028668266, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2516.838160206559, + -1853.6498028668266, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2514.240083995206, + -1852.1498028668266, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2511.642007783853, + -1850.6498028668266, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2509.0439315725, + -1849.1498028668266, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2506.4458553611466, + -1847.6498028668266, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2503.8477791497935, + -1846.1498028668266, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2501.2497029384404, + -1844.6498028668266, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2498.651626727087, + -1843.1498028668266, + 16.361938628041642 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2496.053550515734, + -1841.6498028668266, + 16.361938628041642 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2484.0, + -1820.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-12-51_2004187516/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-12-51_2004187516/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c1828e28821fc6125115c2fb80d7015f5def594 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-12-51_2004187516/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1128.565424071034, + 1541.775114474598, + 30.538286725766664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1131.1635002823873, + 1540.275114474598, + 30.538286725766664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1133.7615764937407, + 1538.775114474598, + 30.538286725766664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1136.359652705094, + 1537.275114474598, + 30.538286725766664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1138.9577289164474, + 1535.775114474598, + 30.538286725766664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1141.5558051278008, + 1534.275114474598, + 30.538286725766664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1144.1538813391542, + 1532.775114474598, + 30.538286725766664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1146.7519575505075, + 1531.275114474598, + 30.538286725766664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1149.350033761861, + 1529.775114474598, + 30.538286725766664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1151.9481099732143, + 1528.275114474598, + 30.538286725766664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1154.5461861845677, + 1526.775114474598, + 30.538286725766664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1157.144262395921, + 1525.275114474598, + 30.538286725766664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1159.7423386072744, + 1523.775114474598, + 30.538286725766664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1162.3404148186278, + 1522.275114474598, + 30.538286725766664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1164.9384910299812, + 1520.775114474598, + 30.538286725766664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1167.5365672413345, + 1519.275114474598, + 30.538286725766664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1170.134643452688, + 1517.775114474598, + 30.538286725766664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1172.7327196640413, + 1516.275114474598, + 30.538286725766664 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1188.0, + 1508.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-14-5_1372261796/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-14-5_1372261796/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..23254988009881fec454318b44fde58168b2e4e9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-14-5_1372261796/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -909.8571958126959, + 2109.4212592949534, + 17.0031870914882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -911.3571958126959, + 2112.0193355063066, + 17.0031870914882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -912.8571958126959, + 2114.6174117176597, + 17.0031870914882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -914.3571958126959, + 2117.215487929013, + 17.0031870914882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -915.8571958126959, + 2119.813564140366, + 17.0031870914882 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -915.8571958126959, + 2119.813564140366, + 17.0031870914882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -918.4552720240492, + 2121.313564140366, + 17.0031870914882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -921.0533482354026, + 2122.813564140366, + 17.0031870914882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -923.651424446756, + 2124.313564140366, + 17.0031870914882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -926.2495006581094, + 2125.813564140366, + 17.0031870914882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -928.8475768694627, + 2127.313564140366, + 17.0031870914882 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -952.0, + 2156.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-16-38_262692685/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-16-38_262692685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bfe657696bafda170e3ff67eabdb73e414f24295 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-16-38_262692685/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4149.3418527124495, + 775.292040853798, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4147.8418527124495, + 772.6939646424446, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4146.3418527124495, + 770.0958884310912, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4144.8418527124495, + 767.4978122197379, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4143.3418527124495, + 764.8997360083845, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4141.8418527124495, + 762.3016597970311, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4140.3418527124495, + 759.7035835856777, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4138.8418527124495, + 757.1055073743244, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4137.3418527124495, + 754.507431162971, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4135.8418527124495, + 751.9093549516176, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4134.3418527124495, + 749.3112787402642, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4132.8418527124495, + 746.7132025289109, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4131.3418527124495, + 744.1151263175575, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4129.8418527124495, + 741.5170501062041, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4128.3418527124495, + 738.9189738948508, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4126.8418527124495, + 736.3208976834974, + 15.653939962883182 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4126.8418527124495, + 736.3208976834974, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4126.8418527124495, + 733.3208976834974, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4126.8418527124495, + 730.3208976834974, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4126.8418527124495, + 727.3208976834974, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4126.8418527124495, + 724.3208976834974, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4126.8418527124495, + 721.3208976834974, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4126.8418527124495, + 718.3208976834974, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4126.8418527124495, + 715.3208976834974, + 15.653939962883182 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4126.8418527124495, + 712.3208976834974, + 15.653939962883182 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4120.0, + 692.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-16-53_1859031536/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-16-53_1859031536/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0de682af923e8d41e5ad48a825e7120204567936 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-16-53_1859031536/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1449.54160786594, + -368.0684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1452.1396840772934, + -366.5684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1454.7377602886468, + -365.0684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1457.3358365000001, + -363.5684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1459.9339127113535, + -362.0684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1462.531988922707, + -360.5684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1465.1300651340603, + -359.0684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1467.7281413454136, + -357.5684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1470.326217556767, + -356.0684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1472.9242937681204, + -354.5684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1475.5223699794738, + -353.0684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1478.1204461908271, + -351.5684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1480.7185224021805, + -350.0684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1483.3165986135339, + -348.5684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1485.9146748248872, + -347.0684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1488.5127510362406, + -345.5684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1491.110827247594, + -344.0684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1493.7089034589474, + -342.5684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1496.3069796703007, + -341.0684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1498.905055881654, + -339.5684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1501.5031320930075, + -338.0684755789267, + 22.69199869072319 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1501.5031320930075, + -338.0684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1504.5031320930075, + -338.0684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1507.5031320930075, + -338.0684755789267, + 22.69199869072319 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1510.5031320930075, + -338.0684755789267, + 22.69199869072319 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1532.0, + -328.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-17-24_1543324176/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-17-24_1543324176/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aaaff3459ed14ca6f75306a55f3432f3affcd01a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-17-24_1543324176/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3770.4450326824235, + 592.9501895789303, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3771.9450326824235, + 595.5482657902837, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3773.4450326824235, + 598.1463420016371, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3774.9450326824235, + 600.7444182129905, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3776.4450326824235, + 603.3424944243438, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3777.9450326824235, + 605.9405706356972, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3779.4450326824235, + 608.5386468470506, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3780.9450326824235, + 611.136723058404, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3782.4450326824235, + 613.7347992697573, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3783.9450326824235, + 616.3328754811107, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3785.4450326824235, + 618.9309516924641, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3786.9450326824235, + 621.5290279038175, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3788.4450326824235, + 624.1271041151708, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3789.9450326824235, + 626.7251803265242, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3791.4450326824235, + 629.3232565378776, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3792.9450326824235, + 631.9213327492309, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3794.4450326824235, + 634.5194089605843, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3795.9450326824235, + 637.1174851719377, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3797.4450326824235, + 639.7155613832911, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3798.9450326824235, + 642.3136375946444, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3800.4450326824235, + 644.9117138059978, + 25.643889056855706 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3801.9450326824235, + 647.5097900173512, + 25.643889056855706 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3820.0, + 676.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-21-1_1965421244/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-21-1_1965421244/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08e8797ef078227cde8359f4e9174a65ec3606cb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-21-1_1965421244/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2455.886838341075, + 137.027854128859, + 30.450495137839233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2455.886838341075, + 134.027854128859, + 30.450495137839233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2455.886838341075, + 131.027854128859, + 30.450495137839233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2455.886838341075, + 128.027854128859, + 30.450495137839233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2455.886838341075, + 125.02785412885899, + 30.450495137839233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2455.886838341075, + 122.02785412885899, + 30.450495137839233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2455.886838341075, + 119.02785412885899, + 30.450495137839233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2455.886838341075, + 116.02785412885899, + 30.450495137839233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2455.886838341075, + 113.02785412885899, + 30.450495137839233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2455.886838341075, + 110.02785412885899, + 30.450495137839233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2455.886838341075, + 107.02785412885899, + 30.450495137839233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2455.886838341075, + 104.02785412885899, + 30.450495137839233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2455.886838341075, + 101.02785412885899, + 30.450495137839233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2455.886838341075, + 98.02785412885899, + 30.450495137839233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2455.886838341075, + 95.02785412885899, + 30.450495137839233 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2455.886838341075, + 95.02785412885899, + 30.450495137839233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2457.386838341075, + 92.42977791750567, + 30.450495137839233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2458.886838341075, + 89.83170170615236, + 30.450495137839233 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2460.0, + 76.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-30-3_114760235/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-30-3_114760235/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a5118a7a211f4b283a6aeb5d828d8b6f7da8908 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-30-3_114760235/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 709.836958083515, + 433.3540156204478, + 18.43999877215518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 712.4350342948683, + 431.8540156204478, + 18.43999877215518 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 712.4350342948683, + 431.8540156204478, + 18.43999877215518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 713.9350342948683, + 429.2559394090945, + 18.43999877215518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 715.4350342948683, + 426.65786319774116, + 18.43999877215518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 716.9350342948683, + 424.05978698638785, + 18.43999877215518 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 718.4350342948683, + 421.46171077503453, + 18.43999877215518 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 718.4350342948683, + 421.46171077503453, + 18.43999877215518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 721.0331105062216, + 419.96171077503453, + 18.43999877215518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 723.631186717575, + 418.46171077503453, + 18.43999877215518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 726.2292629289284, + 416.96171077503453, + 18.43999877215518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 728.8273391402818, + 415.46171077503453, + 18.43999877215518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 731.4254153516351, + 413.96171077503453, + 18.43999877215518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 734.0234915629885, + 412.46171077503453, + 18.43999877215518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 736.6215677743419, + 410.96171077503453, + 18.43999877215518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 739.2196439856953, + 409.46171077503453, + 18.43999877215518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 741.8177201970486, + 407.96171077503453, + 18.43999877215518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 744.415796408402, + 406.46171077503453, + 18.43999877215518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 747.0138726197554, + 404.96171077503453, + 18.43999877215518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 749.6119488311087, + 403.46171077503453, + 18.43999877215518 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 752.2100250424621, + 401.96171077503453, + 18.43999877215518 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 772.0, + 388.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-30-55_1265122573/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-30-55_1265122573/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..23df8b3478216a551b1b42b68765aca0fca2b4df --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-30-55_1265122573/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2552.608207796818, + -1728.8244094077425, + 32.154917403475466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2551.108207796818, + -1731.4224856190958, + 32.154917403475466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2549.608207796818, + -1734.0205618304492, + 32.154917403475466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2548.108207796818, + -1736.6186380418026, + 32.154917403475466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2546.608207796818, + -1739.216714253156, + 32.154917403475466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2545.108207796818, + -1741.8147904645093, + 32.154917403475466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2543.608207796818, + -1744.4128666758627, + 32.154917403475466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2542.108207796818, + -1747.010942887216, + 32.154917403475466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2540.608207796818, + -1749.6090190985694, + 32.154917403475466 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2540.608207796818, + -1749.6090190985694, + 32.154917403475466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2540.608207796818, + -1752.6090190985694, + 32.154917403475466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2540.608207796818, + -1755.6090190985694, + 32.154917403475466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2540.608207796818, + -1758.6090190985694, + 32.154917403475466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2540.608207796818, + -1761.6090190985694, + 32.154917403475466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2540.608207796818, + -1764.6090190985694, + 32.154917403475466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2540.608207796818, + -1767.6090190985694, + 32.154917403475466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2540.608207796818, + -1770.6090190985694, + 32.154917403475466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2540.608207796818, + -1773.6090190985694, + 32.154917403475466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2540.608207796818, + -1776.6090190985694, + 32.154917403475466 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2540.608207796818, + -1779.6090190985694, + 32.154917403475466 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2536.0, + -1796.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-32-7_1007277217/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-32-7_1007277217/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7369cca28ffcfc76184bafc197c8ecd0c0d1dc3e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-32-7_1007277217/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2771.6036663672585, + -1789.4655721579604, + 30.92386367933432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2771.6036663672585, + -1792.4655721579604, + 30.92386367933432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2771.6036663672585, + -1795.4655721579604, + 30.92386367933432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2771.6036663672585, + -1798.4655721579604, + 30.92386367933432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2771.6036663672585, + -1801.4655721579604, + 30.92386367933432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2771.6036663672585, + -1804.4655721579604, + 30.92386367933432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2771.6036663672585, + -1807.4655721579604, + 30.92386367933432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2771.6036663672585, + -1810.4655721579604, + 30.92386367933432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2771.6036663672585, + -1813.4655721579604, + 30.92386367933432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2771.6036663672585, + -1816.4655721579604, + 30.92386367933432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2771.6036663672585, + -1819.4655721579604, + 30.92386367933432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2771.6036663672585, + -1822.4655721579604, + 30.92386367933432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2771.6036663672585, + -1825.4655721579604, + 30.92386367933432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2771.6036663672585, + -1828.4655721579604, + 30.92386367933432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2771.6036663672585, + -1831.4655721579604, + 30.92386367933432 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2771.6036663672585, + -1831.4655721579604, + 30.92386367933432 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2773.1036663672585, + -1834.0636483693138, + 30.92386367933432 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2774.6036663672585, + -1836.6617245806672, + 30.92386367933432 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2776.1036663672585, + -1839.2598007920205, + 30.92386367933432 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2777.6036663672585, + -1841.857877003374, + 30.92386367933432 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2779.1036663672585, + -1844.4559532147273, + 30.92386367933432 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2780.0, + -1860.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-39-48_1467963981/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-39-48_1467963981/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..02f2de86e4848c9dcc8725519c727d42bf263f05 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-39-48_1467963981/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1537.455785145109, + 1214.8678429740878, + 29.456265396673405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1540.0538613564624, + 1216.3678429740878, + 29.456265396673405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1542.6519375678158, + 1217.8678429740878, + 29.456265396673405 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1545.2500137791692, + 1219.3678429740878, + 29.456265396673405 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1596.0, + 1240.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-42-48_1140384172/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-42-48_1140384172/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f17fcc75c6875bf09592fb86253dc8da8a8b8e83 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-42-48_1140384172/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1311.6479541049644, + 1751.4466648170614, + 17.63424812209317 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1313.1479541049644, + 1748.848588605708, + 17.63424812209317 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1314.6479541049644, + 1746.2505123943547, + 17.63424812209317 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1316.1479541049644, + 1743.6524361830013, + 17.63424812209317 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1317.6479541049644, + 1741.054359971648, + 17.63424812209317 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1319.1479541049644, + 1738.4562837602946, + 17.63424812209317 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1320.6479541049644, + 1735.8582075489412, + 17.63424812209317 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1322.1479541049644, + 1733.2601313375878, + 17.63424812209317 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1323.6479541049644, + 1730.6620551262345, + 17.63424812209317 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1323.6479541049644, + 1730.6620551262345, + 17.63424812209317 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1326.2460303163177, + 1729.1620551262345, + 17.63424812209317 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1328.844106527671, + 1727.6620551262345, + 17.63424812209317 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1331.4421827390245, + 1726.1620551262345, + 17.63424812209317 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1334.0402589503778, + 1724.6620551262345, + 17.63424812209317 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1336.6383351617312, + 1723.1620551262345, + 17.63424812209317 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1339.2364113730846, + 1721.6620551262345, + 17.63424812209317 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1341.834487584438, + 1720.1620551262345, + 17.63424812209317 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1341.834487584438, + 1720.1620551262345, + 17.63424812209317 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1343.334487584438, + 1717.563978914881, + 17.63424812209317 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1344.834487584438, + 1714.9659027035277, + 17.63424812209317 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1346.334487584438, + 1712.3678264921743, + 17.63424812209317 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1360.0, + 1696.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-43-30_1582152040/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-43-30_1582152040/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..02dc4db27651e8f652972468e21cea61ac09fa78 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-43-30_1582152040/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4433.344349284039, + 518.5850381345256, + 30.298219310194952 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4435.942425495392, + 520.0850381345256, + 30.298219310194952 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4438.540501706745, + 521.5850381345256, + 30.298219310194952 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4441.138577918098, + 523.0850381345256, + 30.298219310194952 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4443.736654129451, + 524.5850381345256, + 30.298219310194952 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4446.3347303408045, + 526.0850381345256, + 30.298219310194952 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4448.932806552158, + 527.5850381345256, + 30.298219310194952 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4451.530882763511, + 529.0850381345256, + 30.298219310194952 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4454.128958974864, + 530.5850381345256, + 30.298219310194952 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4456.727035186217, + 532.0850381345256, + 30.298219310194952 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4456.727035186217, + 532.0850381345256, + 30.298219310194952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4458.227035186217, + 534.683114345879, + 30.298219310194952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4459.727035186217, + 537.2811905572323, + 30.298219310194952 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4461.227035186217, + 539.8792667685857, + 30.298219310194952 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4496.0, + 564.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-46-48_1982945082/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-46-48_1982945082/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c17d9f7e41b5aff888cdd7c19164db35c58fdb8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-46-48_1982945082/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1418.1172149274155, + -446.7930003902156, + 38.57953519675854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1419.6172149274155, + -444.19492417886227, + 38.57953519675854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1421.1172149274155, + -441.59684796750895, + 38.57953519675854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1422.6172149274155, + -438.99877175615563, + 38.57953519675854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1424.1172149274155, + -436.4006955448023, + 38.57953519675854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1425.6172149274155, + -433.802619333449, + 38.57953519675854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1427.1172149274155, + -431.2045431220957, + 38.57953519675854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1428.6172149274155, + -428.60646691074237, + 38.57953519675854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1430.1172149274155, + -426.00839069938905, + 38.57953519675854 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1452.0, + -396.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-47-21_181271232/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-47-21_181271232/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d9b1c78276cb8bc53a8a8a1ed5f04591855daeb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-47-21_181271232/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2577.773868798971, + 2047.0690755938958, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2575.1757925876177, + 2045.5690755938958, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2572.5777163762646, + 2044.0690755938958, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2569.9796401649114, + 2042.5690755938958, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2567.3815639535583, + 2041.0690755938958, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2564.783487742205, + 2039.5690755938958, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2562.185411530852, + 2038.0690755938958, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2559.587335319499, + 2036.5690755938958, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2556.9892591081457, + 2035.0690755938958, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2554.3911828967925, + 2033.5690755938958, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2551.7931066854394, + 2032.0690755938958, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2549.1950304740863, + 2030.5690755938958, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2546.596954262733, + 2029.0690755938958, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2543.99887805138, + 2027.5690755938958, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2541.400801840027, + 2026.0690755938958, + 37.45668236789231 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2541.400801840027, + 2026.0690755938958, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2539.900801840027, + 2023.4709993825425, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2538.400801840027, + 2020.872923171189, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2536.900801840027, + 2018.2748469598357, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2535.400801840027, + 2015.6767707484823, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2533.900801840027, + 2013.078694537129, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2532.400801840027, + 2010.4806183257756, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2530.900801840027, + 2007.8825421144222, + 37.45668236789231 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2529.400801840027, + 2005.2844659030688, + 37.45668236789231 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2504.0, + 1984.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-47-39_525829204/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-47-39_525829204/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..61ad4a72d77603b8ea387a9b0ebadccf022758af --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-47-39_525829204/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4023.5606196107415, + 2368.2282223622237, + 19.705145800262862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4020.9625433993883, + 2366.7282223622237, + 19.705145800262862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4018.364467188035, + 2365.2282223622237, + 19.705145800262862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4015.766390976682, + 2363.7282223622237, + 19.705145800262862 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3948.0, + 2332.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-59-29_1135771559/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-59-29_1135771559/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b974e3813e385ed5c6042d5ca139494a434153a3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-59-29_1135771559/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3783.032128996507, + 1179.8720757366677, + 30.2760198351368 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3783.032128996507, + 1176.8720757366677, + 30.2760198351368 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3783.032128996507, + 1173.8720757366677, + 30.2760198351368 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3783.032128996507, + 1170.8720757366677, + 30.2760198351368 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3783.032128996507, + 1167.8720757366677, + 30.2760198351368 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3783.032128996507, + 1164.8720757366677, + 30.2760198351368 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3783.032128996507, + 1161.8720757366677, + 30.2760198351368 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3783.032128996507, + 1158.8720757366677, + 30.2760198351368 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3783.032128996507, + 1155.8720757366677, + 30.2760198351368 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3783.032128996507, + 1155.8720757366677, + 30.2760198351368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3781.532128996507, + 1153.2739995253144, + 30.2760198351368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3780.032128996507, + 1150.675923313961, + 30.2760198351368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3778.532128996507, + 1148.0778471026076, + 30.2760198351368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3777.032128996507, + 1145.4797708912542, + 30.2760198351368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3775.532128996507, + 1142.8816946799009, + 30.2760198351368 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3774.032128996507, + 1140.2836184685475, + 30.2760198351368 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3768.0, + 1120.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-6-51_1026413173/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-6-51_1026413173/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6396f5fe90b99cb43530b0da0e2bfeacc9e49fc2 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-6-51_1026413173/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 368.7416566543675, + 1616.585331062659, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 371.7416566543675, + 1616.585331062659, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 374.7416566543675, + 1616.585331062659, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 377.7416566543675, + 1616.585331062659, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 380.7416566543675, + 1616.585331062659, + 37.89305194477623 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 380.7416566543675, + 1616.585331062659, + 37.89305194477623 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 380.7416566543675, + 1616.585331062659, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 382.2416566543675, + 1613.9872548513056, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 383.7416566543675, + 1611.3891786399522, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 385.2416566543675, + 1608.7911024285988, + 37.89305194477623 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 385.2416566543675, + 1608.7911024285988, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 385.2416566543675, + 1605.7911024285988, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 385.2416566543675, + 1602.7911024285988, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 385.2416566543675, + 1599.7911024285988, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 385.2416566543675, + 1596.7911024285988, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 385.2416566543675, + 1593.7911024285988, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 385.2416566543675, + 1590.7911024285988, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 385.2416566543675, + 1587.7911024285988, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 385.2416566543675, + 1584.7911024285988, + 37.89305194477623 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 385.2416566543675, + 1584.7911024285988, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 383.7416566543675, + 1582.1930262172455, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 382.2416566543675, + 1579.594950005892, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 380.7416566543675, + 1576.9968737945387, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 379.2416566543675, + 1574.3987975831853, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 377.7416566543675, + 1571.800721371832, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 376.2416566543675, + 1569.2026451604786, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 374.7416566543675, + 1566.6045689491252, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 373.2416566543675, + 1564.0064927377719, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 371.7416566543675, + 1561.4084165264185, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 370.2416566543675, + 1558.810340315065, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 368.7416566543675, + 1556.2122641037117, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 367.2416566543675, + 1553.6141878923584, + 37.89305194477623 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 367.2416566543675, + 1553.6141878923584, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 364.6435804430142, + 1552.1141878923584, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 362.04550423166086, + 1550.6141878923584, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 359.44742802030754, + 1549.1141878923584, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 356.8493518089542, + 1547.6141878923584, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 354.2512755976009, + 1546.1141878923584, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 351.6531993862476, + 1544.6141878923584, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 349.0551231748943, + 1543.1141878923584, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 346.45704696354096, + 1541.6141878923584, + 37.89305194477623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 343.85897075218764, + 1540.1141878923584, + 37.89305194477623 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 340.0, + 1528.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-7-41_452456682/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-7-41_452456682/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87209317e3f3a32fdff62204b805f732db19803c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-7-41_452456682/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2836.653706269632, + -2949.5399770543722, + 37.6287013183711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2839.653706269632, + -2949.5399770543722, + 37.6287013183711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2842.653706269632, + -2949.5399770543722, + 37.6287013183711 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2842.653706269632, + -2949.5399770543722, + 37.6287013183711 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2842.653706269632, + -2949.5399770543722, + 37.6287013183711 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2844.153706269632, + -2946.941900843019, + 37.6287013183711 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2845.653706269632, + -2944.343824631666, + 37.6287013183711 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2847.153706269632, + -2941.745748420313, + 37.6287013183711 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2848.653706269632, + -2939.1476722089596, + 37.6287013183711 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2850.153706269632, + -2936.5495959976065, + 37.6287013183711 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2851.653706269632, + -2933.9515197862534, + 37.6287013183711 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2853.153706269632, + -2931.3534435749, + 37.6287013183711 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2854.653706269632, + -2928.755367363547, + 37.6287013183711 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2856.153706269632, + -2926.157291152194, + 37.6287013183711 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2857.653706269632, + -2923.559214940841, + 37.6287013183711 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2859.153706269632, + -2920.9611387294876, + 37.6287013183711 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2860.653706269632, + -2918.3630625181345, + 37.6287013183711 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2862.153706269632, + -2915.7649863067813, + 37.6287013183711 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2863.653706269632, + -2913.166910095428, + 37.6287013183711 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2863.653706269632, + -2913.166910095428, + 37.6287013183711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982706 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2866.251782480985, + -2911.666910095428, + 37.6287013183711 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982706 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2884.0, + -2892.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-9-33_1452888574/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-9-33_1452888574/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..266200b2861f481318743e7ac2a9392d8e16ce88 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-9-33_1452888574/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 442.33234791030895, + -2264.877083977586, + 32.47967066975123 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 440.83234791030895, + -2267.4751601889393, + 32.47967066975123 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 439.33234791030895, + -2270.0732364002924, + 32.47967066975123 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 437.83234791030895, + -2272.6713126116456, + 32.47967066975123 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 436.33234791030895, + -2275.2693888229987, + 32.47967066975123 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 434.83234791030895, + -2277.867465034352, + 32.47967066975123 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 433.33234791030895, + -2280.465541245705, + 32.47967066975123 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 433.33234791030895, + -2280.465541245705, + 32.47967066975123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 433.33234791030895, + -2283.465541245705, + 32.47967066975123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 433.33234791030895, + -2286.465541245705, + 32.47967066975123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 433.33234791030895, + -2289.465541245705, + 32.47967066975123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 433.33234791030895, + -2292.465541245705, + 32.47967066975123 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 433.33234791030895, + -2295.465541245705, + 32.47967066975123 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 428.0, + -2328.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-9-44_1280631491/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-9-44_1280631491/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6bb85e51aeee7846fe7065eaba4e07f9401fa9f7 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_17-9-44_1280631491/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1583.22823154292, + 2043.7606479386009, + 25.582200858713627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1586.22823154292, + 2043.7606479386009, + 25.582200858713627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1589.22823154292, + 2043.7606479386009, + 25.582200858713627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1592.22823154292, + 2043.7606479386009, + 25.582200858713627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1595.22823154292, + 2043.7606479386009, + 25.582200858713627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1598.22823154292, + 2043.7606479386009, + 25.582200858713627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1601.22823154292, + 2043.7606479386009, + 25.582200858713627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1604.22823154292, + 2043.7606479386009, + 25.582200858713627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1607.22823154292, + 2043.7606479386009, + 25.582200858713627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1610.22823154292, + 2043.7606479386009, + 25.582200858713627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1613.22823154292, + 2043.7606479386009, + 25.582200858713627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1616.22823154292, + 2043.7606479386009, + 25.582200858713627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1619.22823154292, + 2043.7606479386009, + 25.582200858713627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1622.22823154292, + 2043.7606479386009, + 25.582200858713627 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1625.22823154292, + 2043.7606479386009, + 25.582200858713627 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1625.22823154292, + 2043.7606479386009, + 25.582200858713627 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1627.8263077542733, + 2042.2606479386009, + 25.582200858713627 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1630.4243839656267, + 2040.7606479386009, + 25.582200858713627 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1633.02246017698, + 2039.2606479386009, + 25.582200858713627 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1635.6205363883334, + 2037.7606479386009, + 25.582200858713627 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1656.0, + 2036.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-0-12_1649709016/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-0-12_1649709016/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a6af1a2193fe1714d6e914cca50aaee4ffb5c358 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-0-12_1649709016/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -469.05055792444057, + -147.15314088513884, + 35.992142155559655 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -467.55055792444057, + -149.75121709649216, + 35.992142155559655 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -466.05055792444057, + -152.34929330784547, + 35.992142155559655 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -464.55055792444057, + -154.9473695191988, + 35.992142155559655 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -463.05055792444057, + -157.5454457305521, + 35.992142155559655 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -461.55055792444057, + -160.14352194190542, + 35.992142155559655 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -460.05055792444057, + -162.74159815325874, + 35.992142155559655 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -458.55055792444057, + -165.33967436461205, + 35.992142155559655 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -458.55055792444057, + -165.33967436461205, + 35.992142155559655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -455.95248171308725, + -166.83967436461205, + 35.992142155559655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -453.35440550173394, + -168.33967436461205, + 35.992142155559655 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -450.7563292903806, + -169.83967436461205, + 35.992142155559655 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -420.0, + -212.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-10-29_1604765404/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-10-29_1604765404/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2fdb2123cd6c3d9da7db8c3603912207cba253d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-10-29_1604765404/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2923.123350173698, + -2766.532615484158, + 18.210811685843723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2926.123350173698, + -2766.532615484158, + 18.210811685843723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2929.123350173698, + -2766.532615484158, + 18.210811685843723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2932.123350173698, + -2766.532615484158, + 18.210811685843723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2935.123350173698, + -2766.532615484158, + 18.210811685843723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2938.123350173698, + -2766.532615484158, + 18.210811685843723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2941.123350173698, + -2766.532615484158, + 18.210811685843723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2944.123350173698, + -2766.532615484158, + 18.210811685843723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2947.123350173698, + -2766.532615484158, + 18.210811685843723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2950.123350173698, + -2766.532615484158, + 18.210811685843723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2953.123350173698, + -2766.532615484158, + 18.210811685843723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2956.123350173698, + -2766.532615484158, + 18.210811685843723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2959.123350173698, + -2766.532615484158, + 18.210811685843723 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3016.0, + -2764.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-22-18_61101360/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-22-18_61101360/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a396363930b853fd4769d04d6a7a8b42b5e7056 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-22-18_61101360/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4136.083485670727, + 324.19191143664335, + 38.13872552541993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4134.583485670727, + 321.59383522529004, + 38.13872552541993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4133.083485670727, + 318.9957590139367, + 38.13872552541993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4131.583485670727, + 316.3976828025834, + 38.13872552541993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4130.083485670727, + 313.7996065912301, + 38.13872552541993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4128.583485670727, + 311.2015303798768, + 38.13872552541993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4127.083485670727, + 308.60345416852346, + 38.13872552541993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4125.583485670727, + 306.00537795717014, + 38.13872552541993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4124.083485670727, + 303.4073017458168, + 38.13872552541993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4122.583485670727, + 300.8092255344635, + 38.13872552541993 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4121.083485670727, + 298.2111493231102, + 38.13872552541993 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4121.083485670727, + 298.2111493231102, + 38.13872552541993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4121.083485670727, + 295.2111493231102, + 38.13872552541993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4121.083485670727, + 292.2111493231102, + 38.13872552541993 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4121.083485670727, + 289.2111493231102, + 38.13872552541993 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4112.0, + 268.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-42-48_507578762/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-42-48_507578762/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1638f21cafafbed11422f452692a470a3b9630c9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-42-48_507578762/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1603.0788536082516, + -1510.3390912764833, + 39.49624916978057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1604.5788536082516, + -1507.7410150651299, + 39.49624916978057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1606.0788536082516, + -1505.1429388537765, + 39.49624916978057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1607.5788536082516, + -1502.5448626424231, + 39.49624916978057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1609.0788536082516, + -1499.9467864310698, + 39.49624916978057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1610.5788536082516, + -1497.3487102197164, + 39.49624916978057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1612.0788536082516, + -1494.750634008363, + 39.49624916978057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1613.5788536082516, + -1492.1525577970096, + 39.49624916978057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1615.0788536082516, + -1489.5544815856563, + 39.49624916978057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1616.5788536082516, + -1486.956405374303, + 39.49624916978057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1618.0788536082516, + -1484.3583291629495, + 39.49624916978057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1619.5788536082516, + -1481.7602529515962, + 39.49624916978057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1621.0788536082516, + -1479.1621767402428, + 39.49624916978057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1622.5788536082516, + -1476.5641005288894, + 39.49624916978057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1624.0788536082516, + -1473.966024317536, + 39.49624916978057 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1644.0, + -1444.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-46-42_942724790/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-46-42_942724790/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ed39f5fc6225aa7ac02e2387b8c72758d08b60aa --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-46-42_942724790/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1887.517598644286, + -727.9696419898737, + 39.35284366294773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1889.017598644286, + -730.5677182012271, + 39.35284366294773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1890.517598644286, + -733.1657944125805, + 39.35284366294773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1892.017598644286, + -735.7638706239338, + 39.35284366294773 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1892.017598644286, + -735.7638706239338, + 39.35284366294773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1892.017598644286, + -738.7638706239338, + 39.35284366294773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1892.017598644286, + -741.7638706239338, + 39.35284366294773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1892.017598644286, + -744.7638706239338, + 39.35284366294773 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1900.0, + -800.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-55-3_987706141/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-55-3_987706141/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b2d1586e01204507654beb027f035371e875c904 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-55-3_987706141/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2532.8670933024137, + -2074.3243652131987, + 38.279893411819586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2529.8670933024137, + -2074.3243652131987, + 38.279893411819586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2526.8670933024137, + -2074.3243652131987, + 38.279893411819586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2523.8670933024137, + -2074.3243652131987, + 38.279893411819586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2520.8670933024137, + -2074.3243652131987, + 38.279893411819586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2517.8670933024137, + -2074.3243652131987, + 38.279893411819586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2514.8670933024137, + -2074.3243652131987, + 38.279893411819586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2511.8670933024137, + -2074.3243652131987, + 38.279893411819586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2508.8670933024137, + -2074.3243652131987, + 38.279893411819586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2505.8670933024137, + -2074.3243652131987, + 38.279893411819586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2502.8670933024137, + -2074.3243652131987, + 38.279893411819586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2499.8670933024137, + -2074.3243652131987, + 38.279893411819586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2496.8670933024137, + -2074.3243652131987, + 38.279893411819586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2493.8670933024137, + -2074.3243652131987, + 38.279893411819586 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2472.0, + -2072.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-7-48_1766146081/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-7-48_1766146081/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e991b80e65f182924638765557df8fd411b3e360 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_18-7-48_1766146081/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2831.226056467536, + 568.2895116353553, + 34.915847995917375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2828.226056467536, + 568.2895116353553, + 34.915847995917375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2825.226056467536, + 568.2895116353553, + 34.915847995917375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2822.226056467536, + 568.2895116353553, + 34.915847995917375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2819.226056467536, + 568.2895116353553, + 34.915847995917375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2816.226056467536, + 568.2895116353553, + 34.915847995917375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2813.226056467536, + 568.2895116353553, + 34.915847995917375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2810.226056467536, + 568.2895116353553, + 34.915847995917375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2807.226056467536, + 568.2895116353553, + 34.915847995917375 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2804.226056467536, + 568.2895116353553, + 34.915847995917375 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2804.226056467536, + 568.2895116353553, + 34.915847995917375 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2804.226056467536, + 568.2895116353553, + 34.915847995917375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2802.726056467536, + 565.6914354240021, + 34.915847995917375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2801.226056467536, + 563.0933592126487, + 34.915847995917375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2799.726056467536, + 560.4952830012953, + 34.915847995917375 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2799.726056467536, + 560.4952830012953, + 34.915847995917375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2797.127980256183, + 558.9952830012953, + 34.915847995917375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2794.52990404483, + 557.4952830012953, + 34.915847995917375 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2740.0, + 540.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-0-0_1978701535/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-0-0_1978701535/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef921915f8549181e926ff9abab61dc97fe4631b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-0-0_1978701535/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 717.3135396276792, + -45.666152307330165, + 22.38819497492765 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 714.715463416326, + -47.166152307330165, + 22.38819497492765 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 712.1173872049726, + -48.666152307330165, + 22.38819497492765 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 709.5193109936192, + -50.166152307330165, + 22.38819497492765 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 706.9212347822659, + -51.666152307330165, + 22.38819497492765 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 704.3231585709125, + -53.166152307330165, + 22.38819497492765 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 701.7250823595591, + -54.666152307330165, + 22.38819497492765 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 699.1270061482057, + -56.166152307330165, + 22.38819497492765 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 696.5289299368524, + -57.666152307330165, + 22.38819497492765 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 693.930853725499, + -59.166152307330165, + 22.38819497492765 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 693.930853725499, + -59.166152307330165, + 22.38819497492765 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 692.430853725499, + -61.76422851868348, + 22.38819497492765 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 690.930853725499, + -64.3623047300368, + 22.38819497492765 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 689.430853725499, + -66.96038094139011, + 22.38819497492765 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 660.0, + -92.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-14-41_830365981/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-14-41_830365981/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ca0bc8724a30b03bf097d940aa44841612822fb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-14-41_830365981/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -772.6143648134353, + 1057.6669184099394, + 19.69712073755055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -772.6143648134353, + 1060.6669184099394, + 19.69712073755055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -772.6143648134353, + 1063.6669184099394, + 19.69712073755055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -772.6143648134353, + 1066.6669184099394, + 19.69712073755055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -772.6143648134353, + 1069.6669184099394, + 19.69712073755055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -772.6143648134353, + 1072.6669184099394, + 19.69712073755055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -772.6143648134353, + 1075.6669184099394, + 19.69712073755055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -772.6143648134353, + 1078.6669184099394, + 19.69712073755055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -772.6143648134353, + 1081.6669184099394, + 19.69712073755055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -772.6143648134353, + 1084.6669184099394, + 19.69712073755055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -772.6143648134353, + 1087.6669184099394, + 19.69712073755055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -772.6143648134353, + 1090.6669184099394, + 19.69712073755055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -772.6143648134353, + 1093.6669184099394, + 19.69712073755055 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -772.6143648134353, + 1093.6669184099394, + 19.69712073755055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -771.1143648134353, + 1096.2649946212928, + 19.69712073755055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -769.6143648134353, + 1098.8630708326461, + 19.69712073755055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -768.1143648134353, + 1101.4611470439995, + 19.69712073755055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -766.6143648134353, + 1104.059223255353, + 19.69712073755055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -765.1143648134353, + 1106.6572994667063, + 19.69712073755055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -763.6143648134353, + 1109.2553756780596, + 19.69712073755055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -762.1143648134353, + 1111.853451889413, + 19.69712073755055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -760.6143648134353, + 1114.4515281007664, + 19.69712073755055 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -756.0, + 1136.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-14-56_2053232475/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-14-56_2053232475/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ac1b23d291a2b0905f21821d7a8a0a16179ad74 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-14-56_2053232475/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2862.0769286946834, + 1647.6708133068723, + 21.85997629172187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2860.5769286946834, + 1650.2688895182257, + 21.85997629172187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2859.0769286946834, + 1652.866965729579, + 21.85997629172187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2857.5769286946834, + 1655.4650419409325, + 21.85997629172187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2856.0769286946834, + 1658.0631181522858, + 21.85997629172187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2854.5769286946834, + 1660.6611943636392, + 21.85997629172187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2853.0769286946834, + 1663.2592705749926, + 21.85997629172187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2851.5769286946834, + 1665.857346786346, + 21.85997629172187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2850.0769286946834, + 1668.4554229976993, + 21.85997629172187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2848.5769286946834, + 1671.0534992090527, + 21.85997629172187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2847.0769286946834, + 1673.651575420406, + 21.85997629172187 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2845.5769286946834, + 1676.2496516317594, + 21.85997629172187 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2816.0, + 1724.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-41-41_1456339643/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-41-41_1456339643/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e8550eae1c04dd4ebdfd20bbbdf01a982d4910b8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-41-41_1456339643/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4676.251889401378, + 325.9536648250159, + 17.922906491845822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4674.751889401378, + 323.3555886136626, + 17.922906491845822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4673.251889401378, + 320.75751240230926, + 17.922906491845822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4671.751889401378, + 318.15943619095594, + 17.922906491845822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4670.251889401378, + 315.5613599796026, + 17.922906491845822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4668.751889401378, + 312.9632837682493, + 17.922906491845822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4667.251889401378, + 310.365207556896, + 17.922906491845822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4665.751889401378, + 307.7671313455427, + 17.922906491845822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4664.251889401378, + 305.16905513418936, + 17.922906491845822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4662.751889401378, + 302.57097892283605, + 17.922906491845822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4661.251889401378, + 299.97290271148273, + 17.922906491845822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4659.751889401378, + 297.3748265001294, + 17.922906491845822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4658.251889401378, + 294.7767502887761, + 17.922906491845822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4656.751889401378, + 292.1786740774228, + 17.922906491845822 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4644.0, + 260.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-41-52_2017881519/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-41-52_2017881519/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3950ad9890a2b6b048ece9649fb53074a3042cdc --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-41-52_2017881519/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1020.1924361695538, + -2581.997931471607, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1017.1924361695538, + -2581.997931471607, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1014.1924361695538, + -2581.997931471607, + 14.573068297741948 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1014.1924361695538, + -2581.997931471607, + 14.573068297741948 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1014.1924361695538, + -2581.997931471607, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1012.6924361695538, + -2584.59600768296, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1011.1924361695538, + -2587.1940838943133, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1009.6924361695538, + -2589.7921601056664, + 14.573068297741948 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1009.6924361695538, + -2589.7921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1007.0943599582006, + -2591.2921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1004.4962837468472, + -2592.7921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1001.8982075354938, + -2594.2921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -999.3001313241405, + -2595.7921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -996.7020551127871, + -2597.2921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -994.1039789014337, + -2598.7921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -991.5059026900803, + -2600.2921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -988.907826478727, + -2601.7921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -986.3097502673736, + -2603.2921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -983.7116740560202, + -2604.7921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -981.1135978446669, + -2606.2921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -978.5155216333135, + -2607.7921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -975.9174454219601, + -2609.2921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -973.3193692106067, + -2610.7921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -970.7212929992534, + -2612.2921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -968.1232167879, + -2613.7921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -965.5251405765466, + -2615.2921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -962.9270643651932, + -2616.7921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -960.3289881538399, + -2618.2921601056664, + 14.573068297741948 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -960.3289881538399, + -2618.2921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -957.3289881538399, + -2618.2921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -954.3289881538399, + -2618.2921601056664, + 14.573068297741948 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -951.3289881538399, + -2618.2921601056664, + 14.573068297741948 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -932.0, + -2628.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-42-50_657103124/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-42-50_657103124/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..98ca1284a1cc28a8fbcbcd6ca1cad9462eb91882 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-42-50_657103124/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4419.732235097792, + -2368.2583465921093, + 39.74141892057108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4422.732235097792, + -2368.2583465921093, + 39.74141892057108 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4425.732235097792, + -2368.2583465921093, + 39.74141892057108 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4425.732235097792, + -2368.2583465921093, + 39.74141892057108 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4425.732235097792, + -2368.2583465921093, + 39.74141892057108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4427.232235097792, + -2365.660270380756, + 39.74141892057108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4428.732235097792, + -2363.062194169403, + 39.74141892057108 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4488.0, + -2324.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-45-33_837626799/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-45-33_837626799/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..49cd79f917f49324b4837084280f1eb669f2f27c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-45-33_837626799/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4148.769186602294, + 779.6009971180614, + 17.837660869738936 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4146.171110390941, + 781.1009971180614, + 17.837660869738936 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4143.573034179588, + 782.6009971180614, + 17.837660869738936 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4140.974957968235, + 784.1009971180614, + 17.837660869738936 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4138.376881756882, + 785.6009971180614, + 17.837660869738936 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4135.7788055455285, + 787.1009971180614, + 17.837660869738936 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4135.7788055455285, + 787.1009971180614, + 17.837660869738936 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4134.2788055455285, + 789.6990733294147, + 17.837660869738936 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931673 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4100.0, + 820.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-56-20_962764794/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-56-20_962764794/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a55eca011ac9f2245f8640cc74ee9fb9a619b682 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-56-20_962764794/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2725.897214331188, + 2364.3833041191638, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2723.299138119835, + 2365.8833041191638, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2720.7010619084817, + 2367.3833041191638, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2718.1029856971286, + 2368.8833041191638, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2715.5049094857754, + 2370.3833041191638, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2712.9068332744223, + 2371.8833041191638, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2710.308757063069, + 2373.3833041191638, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2707.710680851716, + 2374.8833041191638, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2705.112604640363, + 2376.3833041191638, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2702.5145284290097, + 2377.8833041191638, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2699.9164522176566, + 2379.3833041191638, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2697.3183760063034, + 2380.8833041191638, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2694.7202997949503, + 2382.3833041191638, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2692.122223583597, + 2383.8833041191638, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2689.524147372244, + 2385.3833041191638, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2686.926071160891, + 2386.8833041191638, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2684.3279949495377, + 2388.3833041191638, + 20.020564747153394 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2684.3279949495377, + 2388.3833041191638, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2682.8279949495377, + 2390.981380330517, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2681.3279949495377, + 2393.57945654187, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2679.8279949495377, + 2396.177532753223, + 20.020564747153394 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2679.8279949495377, + 2396.177532753223, + 20.020564747153394 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982706 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2679.8279949495377, + 2396.177532753223, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": -2.8199664825478976e-14 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2676.8279949495377, + 2396.177532753223, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2673.8279949495377, + 2396.177532753223, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2670.8279949495377, + 2396.177532753223, + 20.020564747153394 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2667.8279949495377, + 2396.177532753223, + 20.020564747153394 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2640.0, + 2412.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-58-58_1487105994/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-58-58_1487105994/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a0c54f7eb9e230c8ac6e22ac6e685dcf885c6656 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-58-58_1487105994/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1064.8737663602171, + 902.1624189682017, + 36.828091908862575 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1067.4718425715705, + 903.6624189682017, + 36.828091908862575 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1070.0699187829239, + 905.1624189682017, + 36.828091908862575 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1072.6679949942773, + 906.6624189682017, + 36.828091908862575 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1075.2660712056306, + 908.1624189682017, + 36.828091908862575 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1077.864147416984, + 909.6624189682017, + 36.828091908862575 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1080.4622236283374, + 911.1624189682017, + 36.828091908862575 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1083.0602998396907, + 912.6624189682017, + 36.828091908862575 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1120.0, + 928.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-7-11_213213171/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-7-11_213213171/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e94f628be1d0f86d4344076c567b0f20adcc35f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-7-11_213213171/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2567.0888850746037, + -1852.0328405173439, + 20.916705946198725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2564.0888850746037, + -1852.0328405173439, + 20.916705946198725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2561.0888850746037, + -1852.0328405173439, + 20.916705946198725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2558.0888850746037, + -1852.0328405173439, + 20.916705946198725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2555.0888850746037, + -1852.0328405173439, + 20.916705946198725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2552.0888850746037, + -1852.0328405173439, + 20.916705946198725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2549.0888850746037, + -1852.0328405173439, + 20.916705946198725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2546.0888850746037, + -1852.0328405173439, + 20.916705946198725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2543.0888850746037, + -1852.0328405173439, + 20.916705946198725 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2543.0888850746037, + -1852.0328405173439, + 20.916705946198725 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2543.0888850746037, + -1852.0328405173439, + 20.916705946198725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2541.5888850746037, + -1849.4347643059905, + 20.916705946198725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2540.0888850746037, + -1846.836688094637, + 20.916705946198725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2538.5888850746037, + -1844.2386118832837, + 20.916705946198725 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2538.5888850746037, + -1844.2386118832837, + 20.916705946198725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2535.9908088632505, + -1842.7386118832837, + 20.916705946198725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2533.3927326518974, + -1841.2386118832837, + 20.916705946198725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2530.7946564405443, + -1839.7386118832837, + 20.916705946198725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2528.196580229191, + -1838.2386118832837, + 20.916705946198725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2525.598504017838, + -1836.7386118832837, + 20.916705946198725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2523.000427806485, + -1835.2386118832837, + 20.916705946198725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2520.4023515951317, + -1833.7386118832837, + 20.916705946198725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2517.8042753837785, + -1832.2386118832837, + 20.916705946198725 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2484.0, + -1820.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-9-16_25084100/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-9-16_25084100/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77b39ef2077d965c3740799d7d0540976bb7081b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_19-9-16_25084100/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4020.4203855404285, + 112.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4023.4203855404285, + 112.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4026.4203855404285, + 112.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4029.4203855404285, + 112.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4032.4203855404285, + 112.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4035.4203855404285, + 112.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4038.4203855404285, + 112.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4041.4203855404285, + 112.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4044.4203855404285, + 112.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4047.4203855404285, + 112.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4050.4203855404285, + 112.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4053.4203855404285, + 112.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4056.4203855404285, + 112.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4059.4203855404285, + 112.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4062.4203855404285, + 112.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4065.4203855404285, + 112.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4068.4203855404285, + 112.95570473765912, + 37.45448157432767 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4068.4203855404285, + 112.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4071.0184617517816, + 111.45570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4073.6165379631348, + 109.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4076.214614174488, + 108.45570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4078.812690385841, + 106.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4081.410766597194, + 105.45570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4084.0088428085473, + 103.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4086.6069190199005, + 102.45570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4089.2049952312536, + 100.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4091.803071442607, + 99.45570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4094.40114765396, + 97.95570473765912, + 37.45448157432767 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4096.999223865313, + 96.45570473765912, + 37.45448157432767 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4116.0, + 92.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_2-0-16_942724790/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_2-0-16_942724790/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f88cd8eb0aec0834e2b1db2a153f2da5dc9f508 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_2-0-16_942724790/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2496.358084299077, + -658.5441813096334, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2497.858084299077, + -661.1422575209867, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2499.358084299077, + -663.7403337323401, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2500.858084299077, + -666.3384099436935, + 20.085285893554108 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2500.858084299077, + -666.3384099436935, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2500.858084299077, + -669.3384099436935, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2500.858084299077, + -672.3384099436935, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2500.858084299077, + -675.3384099436935, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2500.858084299077, + -678.3384099436935, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2500.858084299077, + -681.3384099436935, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2500.858084299077, + -684.3384099436935, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2500.858084299077, + -687.3384099436935, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2500.858084299077, + -690.3384099436935, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2500.858084299077, + -693.3384099436935, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2500.858084299077, + -696.3384099436935, + 20.085285893554108 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2500.858084299077, + -696.3384099436935, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2502.358084299077, + -698.9364861550469, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2503.858084299077, + -701.5345623664002, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2505.358084299077, + -704.1326385777536, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2506.858084299077, + -706.730714789107, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2508.358084299077, + -709.3287910004603, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2509.858084299077, + -711.9268672118137, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2511.358084299077, + -714.5249434231671, + 20.085285893554108 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2511.358084299077, + -714.5249434231671, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2513.95616051043, + -716.0249434231671, + 20.085285893554108 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2516.554236721783, + -717.5249434231671, + 20.085285893554108 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2528.0, + -748.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_2-3-36_342146590/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_2-3-36_342146590/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7fa1164c3918b43e320bb249471fa5b18e95073e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_2-3-36_342146590/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2019.9995918280222, + 409.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2019.9995918280222, + 406.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2019.9995918280222, + 403.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2019.9995918280222, + 400.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2019.9995918280222, + 397.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2019.9995918280222, + 394.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2019.9995918280222, + 391.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2019.9995918280222, + 388.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2019.9995918280222, + 385.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2019.9995918280222, + 382.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2019.9995918280222, + 379.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2019.9995918280222, + 376.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2019.9995918280222, + 373.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2019.9995918280222, + 370.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2019.9995918280222, + 367.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2019.9995918280222, + 364.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2019.9995918280222, + 361.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2019.9995918280222, + 358.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2019.9995918280222, + 355.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2019.9995918280222, + 352.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2019.9995918280222, + 349.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2019.9995918280222, + 346.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2019.9995918280222, + 343.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2019.9995918280222, + 340.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2019.9995918280222, + 337.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2019.9995918280222, + 334.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2019.9995918280222, + 331.67414511683285, + 19.878471166037905 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2019.9995918280222, + 331.67414511683285, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2021.4995918280222, + 329.07606890547953, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2022.9995918280222, + 326.4779926941262, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2024.4995918280222, + 323.8799164827729, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2025.9995918280222, + 321.2818402714196, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2027.4995918280222, + 318.68376406006627, + 19.878471166037905 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2027.4995918280222, + 318.68376406006627, + 19.878471166037905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2027.4995918280222, + 315.68376406006627, + 19.878471166037905 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2028.0, + 312.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-19-26_922587542/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-19-26_922587542/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ffb80afab3e1b9c2b1aa3981efc7dd712e295853 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-19-26_922587542/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -548.8388698682631, + -2314.6270345295425, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -547.3388698682631, + -2317.2251107408956, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -545.8388698682631, + -2319.8231869522488, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -544.3388698682631, + -2322.421263163602, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -542.8388698682631, + -2325.019339374955, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -541.3388698682631, + -2327.617415586308, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -539.8388698682631, + -2330.2154917976613, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -538.3388698682631, + -2332.8135680090145, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -536.8388698682631, + -2335.4116442203676, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -535.3388698682631, + -2338.009720431721, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -533.8388698682631, + -2340.607796643074, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -532.3388698682631, + -2343.205872854427, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -530.8388698682631, + -2345.80394906578, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -529.3388698682631, + -2348.4020252771334, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -527.8388698682631, + -2351.0001014884865, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -526.3388698682631, + -2353.5981776998397, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -524.8388698682631, + -2356.196253911193, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -523.3388698682631, + -2358.794330122546, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -521.8388698682631, + -2361.392406333899, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -520.3388698682631, + -2363.9904825452522, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -518.8388698682631, + -2366.5885587566054, + 32.570156573914474 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -518.8388698682631, + -2366.5885587566054, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -516.2407936569098, + -2368.0885587566054, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -513.6427174455564, + -2369.5885587566054, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -511.0446412342031, + -2371.0885587566054, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -508.44656502284977, + -2372.5885587566054, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -505.84848881149645, + -2374.0885587566054, + 32.570156573914474 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -503.25041260014314, + -2375.5885587566054, + 32.570156573914474 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -496.0, + -2384.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-20-7_1209379174/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-20-7_1209379174/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..403a1c6caf6da1e52af70e5a01d663f93eca8cfe --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-20-7_1209379174/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2380.639397554582, + -2897.0144396110713, + 36.82759473520484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2379.139397554582, + -2894.416363399718, + 36.82759473520484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2377.639397554582, + -2891.818287188365, + 36.82759473520484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2376.139397554582, + -2889.220210977012, + 36.82759473520484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2374.639397554582, + -2886.6221347656588, + 36.82759473520484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2373.139397554582, + -2884.0240585543056, + 36.82759473520484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2371.639397554582, + -2881.4259823429525, + 36.82759473520484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2370.139397554582, + -2878.8279061315993, + 36.82759473520484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2368.639397554582, + -2876.229829920246, + 36.82759473520484 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2368.639397554582, + -2876.229829920246, + 36.82759473520484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2366.041321343229, + -2874.729829920246, + 36.82759473520484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2363.4432451318758, + -2873.229829920246, + 36.82759473520484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2360.8451689205226, + -2871.729829920246, + 36.82759473520484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2358.2470927091695, + -2870.229829920246, + 36.82759473520484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2355.6490164978163, + -2868.729829920246, + 36.82759473520484 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2340.0, + -2844.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-24-14_627510635/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-24-14_627510635/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..991de8164d854021249671c7908d8e243ae25ded --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-24-14_627510635/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 408.0477961257242, + -34.839792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 405.44971991437086, + -36.339792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 402.85164370301754, + -37.839792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 400.2535674916642, + -39.339792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 397.6554912803109, + -40.839792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 395.0574150689576, + -42.339792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 392.4593388576043, + -43.839792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 389.86126264625096, + -45.339792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 387.26318643489765, + -46.839792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 384.66511022354433, + -48.339792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 382.067034012191, + -49.839792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 379.4689578008377, + -51.339792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 376.8708815894844, + -52.839792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 374.27280537813107, + -54.339792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 371.67472916677775, + -55.839792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 369.07665295542444, + -57.339792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 366.4785767440711, + -58.839792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 363.8805005327178, + -60.339792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 361.2824243213645, + -61.839792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 358.6843481100112, + -63.339792741774176, + 26.20259973698879 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 358.6843481100112, + -63.339792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 355.6843481100112, + -63.339792741774176, + 26.20259973698879 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 352.6843481100112, + -63.339792741774176, + 26.20259973698879 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 328.0, + -76.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-27-38_419914800/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-27-38_419914800/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e70a2b45d0490a4f78fb7eb022a5f1a9f904c165 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-27-38_419914800/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2011.246846611589, + 2436.618480658716, + 26.26528334361017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2008.6487704002357, + 2438.118480658716, + 26.26528334361017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2006.0506941888823, + 2439.618480658716, + 26.26528334361017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2003.452617977529, + 2441.118480658716, + 26.26528334361017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2000.8545417661755, + 2442.618480658716, + 26.26528334361017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1998.2564655548222, + 2444.118480658716, + 26.26528334361017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1995.6583893434688, + 2445.618480658716, + 26.26528334361017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1993.0603131321154, + 2447.118480658716, + 26.26528334361017 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1990.462236920762, + 2448.618480658716, + 26.26528334361017 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1990.462236920762, + 2448.618480658716, + 26.26528334361017 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1987.462236920762, + 2448.618480658716, + 26.26528334361017 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1984.462236920762, + 2448.618480658716, + 26.26528334361017 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1981.462236920762, + 2448.618480658716, + 26.26528334361017 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1978.462236920762, + 2448.618480658716, + 26.26528334361017 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1928.0, + 2464.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-27-48_730199492/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-27-48_730199492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..30fa60d5cc355aa0062e2abd45dffc1c066a5a5f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-27-48_730199492/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1039.3956565304861, + -2959.339039256015, + 25.34578189917731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1037.8956565304861, + -2961.937115467368, + 25.34578189917731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1036.3956565304861, + -2964.5351916787213, + 25.34578189917731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1034.8956565304861, + -2967.1332678900744, + 25.34578189917731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1033.3956565304861, + -2969.7313441014276, + 25.34578189917731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1031.8956565304861, + -2972.3294203127807, + 25.34578189917731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1030.3956565304861, + -2974.927496524134, + 25.34578189917731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1028.8956565304861, + -2977.525572735487, + 25.34578189917731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1027.3956565304861, + -2980.12364894684, + 25.34578189917731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1025.8956565304861, + -2982.7217251581933, + 25.34578189917731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1024.3956565304861, + -2985.3198013695464, + 25.34578189917731 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1000.0, + -3020.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-33-16_1076919591/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-33-16_1076919591/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a007cf9462c148b90d74f41c364187dd06301864 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-33-16_1076919591/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3370.4746402657956, + -483.660454319521, + 35.49222989661662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3373.072716477149, + -482.160454319521, + 35.49222989661662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3375.670792688502, + -480.660454319521, + 35.49222989661662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3378.268868899855, + -479.160454319521, + 35.49222989661662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3380.866945111208, + -477.660454319521, + 35.49222989661662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3383.4650213225614, + -476.160454319521, + 35.49222989661662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3386.0630975339145, + -474.660454319521, + 35.49222989661662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3388.6611737452677, + -473.160454319521, + 35.49222989661662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3391.259249956621, + -471.660454319521, + 35.49222989661662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3393.857326167974, + -470.160454319521, + 35.49222989661662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3396.455402379327, + -468.660454319521, + 35.49222989661662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3399.0534785906802, + -467.160454319521, + 35.49222989661662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3401.6515548020334, + -465.660454319521, + 35.49222989661662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3404.2496310133865, + -464.160454319521, + 35.49222989661662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3406.8477072247397, + -462.660454319521, + 35.49222989661662 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3448.0, + -440.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-44-34_2068224547/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-44-34_2068224547/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..49a040caa8bb778c3984fd480bd6e05c4a523a9d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-44-34_2068224547/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -165.50615050521824, + -116.99166205869476, + 22.137544799317915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -162.50615050521824, + -116.99166205869476, + 22.137544799317915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -159.50615050521824, + -116.99166205869476, + 22.137544799317915 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -159.50615050521824, + -116.99166205869476, + 22.137544799317915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -156.90807429386493, + -115.49166205869476, + 22.137544799317915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -154.3099980825116, + -113.99166205869476, + 22.137544799317915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -151.7119218711583, + -112.49166205869476, + 22.137544799317915 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -104.0, + -96.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-53-21_1048938329/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-53-21_1048938329/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c5d2d452d154f18e872991cc9134592ee2e4978 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-53-21_1048938329/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 65.36805716624819, + 1232.0936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 62.769980954894876, + 1233.5936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 60.17190474354156, + 1235.0936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 57.573828532188244, + 1236.5936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 54.97575232083493, + 1238.0936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 52.37767610948161, + 1239.5936006071151, + 36.92311269933156 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 52.37767610948161, + 1239.5936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 49.37767610948161, + 1239.5936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 46.37767610948161, + 1239.5936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 43.37767610948161, + 1239.5936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 40.37767610948161, + 1239.5936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 37.37767610948161, + 1239.5936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 34.37767610948161, + 1239.5936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 31.377676109481612, + 1239.5936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 28.377676109481612, + 1239.5936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 25.377676109481612, + 1239.5936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 22.377676109481612, + 1239.5936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 19.377676109481612, + 1239.5936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 16.377676109481612, + 1239.5936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 13.377676109481612, + 1239.5936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 10.377676109481612, + 1239.5936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 7.377676109481612, + 1239.5936006071151, + 36.92311269933156 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 7.377676109481612, + 1239.5936006071151, + 36.92311269933156 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 7.377676109481612, + 1239.5936006071151, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 5.877676109481613, + 1242.1916768184685, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4.377676109481614, + 1244.789753029822, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2.877676109481615, + 1247.3878292411753, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1.3776761094816157, + 1249.9859054525286, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -0.12232389051838366, + 1252.583981663882, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1.622323890518383, + 1255.1820578752354, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -3.1223238905183823, + 1257.7801340865888, + 36.92311269933156 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -4.622323890518381, + 1260.3782102979421, + 36.92311269933156 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -24.0, + 1268.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-6-13_1510906527/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-6-13_1510906527/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..538fa5c762542a434f94775562e6b8505dbf8520 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-6-13_1510906527/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3607.428320105891, + 665.0354298900247, + 16.735240941816926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3608.928320105891, + 667.6335061013781, + 16.735240941816926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3610.428320105891, + 670.2315823127315, + 16.735240941816926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3611.928320105891, + 672.8296585240848, + 16.735240941816926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3613.428320105891, + 675.4277347354382, + 16.735240941816926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3614.928320105891, + 678.0258109467916, + 16.735240941816926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3616.428320105891, + 680.623887158145, + 16.735240941816926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3617.928320105891, + 683.2219633694983, + 16.735240941816926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3619.428320105891, + 685.8200395808517, + 16.735240941816926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3620.928320105891, + 688.4181157922051, + 16.735240941816926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3622.428320105891, + 691.0161920035584, + 16.735240941816926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3623.928320105891, + 693.6142682149118, + 16.735240941816926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3625.428320105891, + 696.2123444262652, + 16.735240941816926 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3626.928320105891, + 698.8104206376186, + 16.735240941816926 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3644.0, + 736.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-6-23_473903566/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-6-23_473903566/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a0e3ca1ea190b454aebce4b17a82b8870190e8b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_20-6-23_473903566/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1307.0036097493667, + -2554.2966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1310.0036097493667, + -2554.2966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1313.0036097493667, + -2554.2966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1316.0036097493667, + -2554.2966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1319.0036097493667, + -2554.2966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1322.0036097493667, + -2554.2966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1325.0036097493667, + -2554.2966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1328.0036097493667, + -2554.2966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1331.0036097493667, + -2554.2966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1334.0036097493667, + -2554.2966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1337.0036097493667, + -2554.2966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1340.0036097493667, + -2554.2966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1343.0036097493667, + -2554.2966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1346.0036097493667, + -2554.2966131314593, + 23.05253225106902 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1346.0036097493667, + -2554.2966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1348.60168596072, + -2555.7966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1351.1997621720734, + -2557.2966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1353.7978383834268, + -2558.7966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1356.3959145947802, + -2560.2966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1358.9939908061335, + -2561.7966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1361.592067017487, + -2563.2966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1364.1901432288403, + -2564.7966131314593, + 23.05253225106902 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1366.7882194401936, + -2566.2966131314593, + 23.05253225106902 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1388.0, + -2572.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_21-11-43_1763360602/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_21-11-43_1763360602/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8cf8e97f73b06d9bffe97db4ecc7c4f05b7d3553 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_21-11-43_1763360602/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2348.285657901333, + -42.1654523441041, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2346.785657901333, + -39.56737613275078, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2345.285657901333, + -36.969299921397464, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2343.785657901333, + -34.37122371004415, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2342.285657901333, + -31.773147498690832, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2340.785657901333, + -29.175071287337516, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2339.285657901333, + -26.5769950759842, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2337.785657901333, + -23.978918864630884, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2336.285657901333, + -21.38084265327757, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2334.785657901333, + -18.782766441924252, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2333.285657901333, + -16.184690230570936, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2331.785657901333, + -13.58661401921762, + 23.30620328994417 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2331.785657901333, + -13.58661401921762, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2329.1875816899797, + -12.08661401921762, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2326.5895054786265, + -10.58661401921762, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2323.9914292672734, + -9.08661401921762, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2321.39335305592, + -7.58661401921762, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2318.795276844567, + -6.08661401921762, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2316.197200633214, + -4.58661401921762, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2313.599124421861, + -3.0866140192176204, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2311.0010482105076, + -1.5866140192176206, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2308.4029719991545, + -0.0866140192176208, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2305.8048957878013, + 1.413385980782379, + 23.30620328994417 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2305.8048957878013, + 1.413385980782379, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2304.3048957878013, + 4.011462192135695, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2302.8048957878013, + 6.609538403489011, + 23.30620328994417 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2301.3048957878013, + 9.207614614842328, + 23.30620328994417 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2288.0, + 28.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_21-33-46_1137638147/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_21-33-46_1137638147/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3852351a604c14b8397916dfac2a59d305f94f72 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_21-33-46_1137638147/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2680.6912081324253, + -379.3773965424162, + 16.271405579066826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2683.6912081324253, + -379.3773965424162, + 16.271405579066826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2686.6912081324253, + -379.3773965424162, + 16.271405579066826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2689.6912081324253, + -379.3773965424162, + 16.271405579066826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2692.6912081324253, + -379.3773965424162, + 16.271405579066826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2695.6912081324253, + -379.3773965424162, + 16.271405579066826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2698.6912081324253, + -379.3773965424162, + 16.271405579066826 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2698.6912081324253, + -379.3773965424162, + 16.271405579066826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2701.2892843437785, + -380.8773965424162, + 16.271405579066826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2703.8873605551316, + -382.3773965424162, + 16.271405579066826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2706.485436766485, + -383.8773965424162, + 16.271405579066826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2709.083512977838, + -385.3773965424162, + 16.271405579066826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2711.681589189191, + -386.8773965424162, + 16.271405579066826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2714.279665400544, + -388.3773965424162, + 16.271405579066826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2716.8777416118974, + -389.8773965424162, + 16.271405579066826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2719.4758178232505, + -391.3773965424162, + 16.271405579066826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2722.0738940346037, + -392.8773965424162, + 16.271405579066826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2724.671970245957, + -394.3773965424162, + 16.271405579066826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2727.27004645731, + -395.8773965424162, + 16.271405579066826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2729.868122668663, + -397.3773965424162, + 16.271405579066826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2732.4661988800162, + -398.8773965424162, + 16.271405579066826 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2735.0642750913694, + -400.3773965424162, + 16.271405579066826 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2772.0, + -416.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_21-46-6_1595371198/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_21-46-6_1595371198/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b16e075a8dd8bd34760538a1fd714cd79d019a1f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_21-46-6_1595371198/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2018.3532752483588, + 1534.9433135203626, + 29.952003917770877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2020.9513514597122, + 1533.4433135203626, + 29.952003917770877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2023.5494276710656, + 1531.9433135203626, + 29.952003917770877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2026.147503882419, + 1530.4433135203626, + 29.952003917770877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2028.7455800937723, + 1528.9433135203626, + 29.952003917770877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2031.3436563051257, + 1527.4433135203626, + 29.952003917770877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2033.941732516479, + 1525.9433135203626, + 29.952003917770877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2036.5398087278325, + 1524.4433135203626, + 29.952003917770877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2039.1378849391858, + 1522.9433135203626, + 29.952003917770877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2041.7359611505392, + 1521.4433135203626, + 29.952003917770877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2044.3340373618926, + 1519.9433135203626, + 29.952003917770877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2046.932113573246, + 1518.4433135203626, + 29.952003917770877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2049.5301897845993, + 1516.9433135203626, + 29.952003917770877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2052.1282659959525, + 1515.4433135203626, + 29.952003917770877 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2052.1282659959525, + 1515.4433135203626, + 29.952003917770877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2053.6282659959525, + 1512.8452373090092, + 29.952003917770877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2055.1282659959525, + 1510.2471610976559, + 29.952003917770877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2056.6282659959525, + 1507.6490848863025, + 29.952003917770877 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2058.1282659959525, + 1505.0510086749491, + 29.952003917770877 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2072.0, + 1492.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-24-46_1744161708/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-24-46_1744161708/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..045e75a28521aba54bc757d806a2f38361b0300e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-24-46_1744161708/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2312.2612513961794, + -30.25383412463946, + 20.967645878944708 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2312.2612513961794, + -33.25383412463946, + 20.967645878944708 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2312.2612513961794, + -36.25383412463946, + 20.967645878944708 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2312.2612513961794, + -39.25383412463946, + 20.967645878944708 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2312.2612513961794, + -42.25383412463946, + 20.967645878944708 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2312.2612513961794, + -42.25383412463946, + 20.967645878944708 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2310.7612513961794, + -44.85191033599278, + 20.967645878944708 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2309.2612513961794, + -47.44998654734609, + 20.967645878944708 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2296.0, + -92.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-33-4_1090438014/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-33-4_1090438014/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e5cefa521768e8071f6d52223f3911d5fcab75a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-33-4_1090438014/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3840.7394422671246, + 2439.8540967816707, + 32.00925041500257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3843.7394422671246, + 2439.8540967816707, + 32.00925041500257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3846.7394422671246, + 2439.8540967816707, + 32.00925041500257 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3846.7394422671246, + 2439.8540967816707, + 32.00925041500257 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3846.7394422671246, + 2439.8540967816707, + 32.00925041500257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3848.2394422671246, + 2442.452172993024, + 32.00925041500257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3849.7394422671246, + 2445.050249204377, + 32.00925041500257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3851.2394422671246, + 2447.64832541573, + 32.00925041500257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3852.7394422671246, + 2450.2464016270833, + 32.00925041500257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3854.2394422671246, + 2452.8444778384364, + 32.00925041500257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3855.7394422671246, + 2455.4425540497896, + 32.00925041500257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3857.2394422671246, + 2458.0406302611427, + 32.00925041500257 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3857.2394422671246, + 2458.0406302611427, + 32.00925041500257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982706 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3859.8375184784777, + 2459.5406302611427, + 32.00925041500257 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982706 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3892.0, + 2488.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-41-48_1805816260/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-41-48_1805816260/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1152588797ec02311e357572a5f035a42296ce7a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-41-48_1805816260/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1369.2262751718356, + 814.4020534649778, + 14.81937259528581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1367.7262751718356, + 811.8039772536245, + 14.81937259528581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1366.2262751718356, + 809.2059010422711, + 14.81937259528581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1364.7262751718356, + 806.6078248309177, + 14.81937259528581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1363.2262751718356, + 804.0097486195643, + 14.81937259528581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1361.7262751718356, + 801.411672408211, + 14.81937259528581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1360.2262751718356, + 798.8135961968576, + 14.81937259528581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1358.7262751718356, + 796.2155199855042, + 14.81937259528581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1357.2262751718356, + 793.6174437741508, + 14.81937259528581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1355.7262751718356, + 791.0193675627975, + 14.81937259528581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1354.2262751718356, + 788.4212913514441, + 14.81937259528581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1352.7262751718356, + 785.8232151400907, + 14.81937259528581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1351.2262751718356, + 783.2251389287374, + 14.81937259528581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1349.7262751718356, + 780.627062717384, + 14.81937259528581 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1348.2262751718356, + 778.0289865060306, + 14.81937259528581 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1336.0, + 756.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-43-51_966618017/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-43-51_966618017/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0cc2f6833638d4eb0630e5e68d758ba7ed3839c4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-43-51_966618017/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 84.84452115651366, + -2044.0624927695728, + 28.176969037094743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 87.84452115651366, + -2044.0624927695728, + 28.176969037094743 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 87.84452115651366, + -2044.0624927695728, + 28.176969037094743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 90.44259736786698, + -2042.5624927695728, + 28.176969037094743 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 93.0406735792203, + -2041.0624927695728, + 28.176969037094743 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 176.0, + -2008.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-5-6_95266356/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-5-6_95266356/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a4c9fd26124c3c21fd599d3a3974673d990f9bb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-5-6_95266356/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2366.9501743105166, + 544.1998792334955, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2369.9501743105166, + 544.1998792334955, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2372.9501743105166, + 544.1998792334955, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2375.9501743105166, + 544.1998792334955, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2378.9501743105166, + 544.1998792334955, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2381.9501743105166, + 544.1998792334955, + 32.88716852149796 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2381.9501743105166, + 544.1998792334955, + 32.88716852149796 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2381.9501743105166, + 544.1998792334955, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2383.4501743105166, + 546.7979554448489, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2384.9501743105166, + 549.3960316562022, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2386.4501743105166, + 551.9941078675556, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2387.9501743105166, + 554.592184078909, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2389.4501743105166, + 557.1902602902624, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2390.9501743105166, + 559.7883365016157, + 32.88716852149796 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2390.9501743105166, + 559.7883365016157, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2393.5482505218697, + 561.2883365016157, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2396.146326733223, + 562.7883365016157, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2398.744402944576, + 564.2883365016157, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2401.342479155929, + 565.7883365016157, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2403.9405553672823, + 567.2883365016157, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2406.5386315786354, + 568.7883365016157, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2409.1367077899886, + 570.2883365016157, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2411.7347840013417, + 571.7883365016157, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2414.332860212695, + 573.2883365016157, + 32.88716852149796 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2414.332860212695, + 573.2883365016157, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2417.332860212695, + 573.2883365016157, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2420.332860212695, + 573.2883365016157, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2423.332860212695, + 573.2883365016157, + 32.88716852149796 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2423.332860212695, + 573.2883365016157, + 32.88716852149796 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2423.332860212695, + 573.2883365016157, + 32.88716852149796 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2424.832860212695, + 575.8864127129691, + 32.88716852149796 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2440.0, + 584.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-53-33_104221117/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-53-33_104221117/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d1c23ad4bb6a3a96398ab9b1f545eb764502b1b3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-53-33_104221117/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2023.3051478121508, + 2475.6777612146216, + 30.145878620034246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2024.8051478121508, + 2478.2758374259747, + 30.145878620034246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2026.3051478121508, + 2480.873913637328, + 30.145878620034246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2027.8051478121508, + 2483.471989848681, + 30.145878620034246 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2027.8051478121508, + 2483.471989848681, + 30.145878620034246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2030.4032240235042, + 2484.971989848681, + 30.145878620034246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2033.0013002348576, + 2486.471989848681, + 30.145878620034246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2035.599376446211, + 2487.971989848681, + 30.145878620034246 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2038.1974526575643, + 2489.471989848681, + 30.145878620034246 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2072.0, + 2524.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-57-51_1214790563/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-57-51_1214790563/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c24a0079d04473808859abfc2a24a478e3477d6a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-57-51_1214790563/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2853.254783430908, + 334.8400084918451, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2850.656707219555, + 333.3400084918451, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2848.0586310082017, + 331.8400084918451, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2845.4605547968486, + 330.3400084918451, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2842.8624785854954, + 328.8400084918451, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2840.2644023741423, + 327.3400084918451, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2837.666326162789, + 325.8400084918451, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2835.068249951436, + 324.3400084918451, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2832.470173740083, + 322.8400084918451, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2829.8720975287297, + 321.3400084918451, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2827.2740213173765, + 319.8400084918451, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2824.6759451060234, + 318.3400084918451, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2822.0778688946702, + 316.8400084918451, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2819.479792683317, + 315.3400084918451, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2816.881716471964, + 313.8400084918451, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2814.283640260611, + 312.3400084918451, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2811.6855640492577, + 310.8400084918451, + 21.03852819996716 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2811.6855640492577, + 310.8400084918451, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2810.1855640492577, + 308.24193228049177, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2808.6855640492577, + 305.64385606913845, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2807.1855640492577, + 303.04577985778513, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2805.6855640492577, + 300.4477036464318, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2804.1855640492577, + 297.8496274350785, + 21.03852819996716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2802.6855640492577, + 295.2515512237252, + 21.03852819996716 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2780.0, + 276.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-59-32_297785900/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-59-32_297785900/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91d5839e9a3416bd5a517a2aedcd542de2f1886c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_22-59-32_297785900/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 365.64983123197067, + -1846.340197518514, + 33.62321775420322 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 363.05175502061735, + -1844.840197518514, + 33.62321775420322 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 360.45367880926403, + -1843.340197518514, + 33.62321775420322 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 357.8556025979107, + -1841.840197518514, + 33.62321775420322 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 355.2575263865574, + -1840.340197518514, + 33.62321775420322 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 352.6594501752041, + -1838.840197518514, + 33.62321775420322 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 350.06137396385077, + -1837.340197518514, + 33.62321775420322 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 347.46329775249745, + -1835.840197518514, + 33.62321775420322 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 344.86522154114414, + -1834.340197518514, + 33.62321775420322 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 342.2671453297908, + -1832.840197518514, + 33.62321775420322 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 339.6690691184375, + -1831.340197518514, + 33.62321775420322 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 337.0709929070842, + -1829.840197518514, + 33.62321775420322 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 334.4729166957309, + -1828.340197518514, + 33.62321775420322 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 331.87484048437756, + -1826.840197518514, + 33.62321775420322 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 329.27676427302424, + -1825.340197518514, + 33.62321775420322 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 326.6786880616709, + -1823.840197518514, + 33.62321775420322 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 326.6786880616709, + -1823.840197518514, + 33.62321775420322 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 325.1786880616709, + -1821.2421213071607, + 33.62321775420322 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 323.6786880616709, + -1818.6440450958073, + 33.62321775420322 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 322.1786880616709, + -1816.045968884454, + 33.62321775420322 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 300.0, + -1796.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_23-32-57_875470641/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_23-32-57_875470641/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ebfc684f43d64b201f662434024eb2cfe1534e83 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_23-32-57_875470641/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1930.966429688959, + 1058.1978075909597, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1932.466429688959, + 1060.795883802313, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1933.966429688959, + 1063.3939600136664, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1935.466429688959, + 1065.9920362250198, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1936.966429688959, + 1068.5901124363731, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1938.466429688959, + 1071.1881886477265, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1939.966429688959, + 1073.78626485908, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1941.466429688959, + 1076.3843410704333, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1942.966429688959, + 1078.9824172817866, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1944.466429688959, + 1081.58049349314, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1945.966429688959, + 1084.1785697044934, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1947.466429688959, + 1086.7766459158468, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1948.966429688959, + 1089.3747221272001, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1950.466429688959, + 1091.9727983385535, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1951.966429688959, + 1094.5708745499069, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1953.466429688959, + 1097.1689507612602, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1954.966429688959, + 1099.7670269726136, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1956.466429688959, + 1102.365103183967, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1957.966429688959, + 1104.9631793953204, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1959.466429688959, + 1107.5612556066737, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1960.966429688959, + 1110.159331818027, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1962.466429688959, + 1112.7574080293805, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1963.966429688959, + 1115.3554842407339, + 32.338636935318846 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1963.966429688959, + 1115.3554842407339, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1966.5645059003123, + 1116.8554842407339, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1969.1625821116656, + 1118.3554842407339, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1971.760658323019, + 1119.8554842407339, + 32.338636935318846 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1974.3587345343724, + 1121.3554842407339, + 32.338636935318846 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1988.0, + 1140.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_23-35-27_1690127682/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_23-35-27_1690127682/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..926d1da77b12805c4a645d4fc911d0f70f6b3bf1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_23-35-27_1690127682/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1695.9436371292068, + 1069.728336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1693.3455609178534, + 1071.228336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1690.7474847065, + 1072.728336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1688.1494084951466, + 1074.228336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1685.5513322837933, + 1075.728336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1682.95325607244, + 1077.228336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1680.3551798610865, + 1078.728336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1677.7571036497332, + 1080.228336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1675.1590274383798, + 1081.728336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1672.5609512270264, + 1083.228336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1669.962875015673, + 1084.728336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1667.3647988043197, + 1086.228336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1664.7667225929663, + 1087.728336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1662.168646381613, + 1089.228336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1659.5705701702595, + 1090.728336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1656.9724939589062, + 1092.228336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1654.3744177475528, + 1093.728336618402, + 36.83194980113184 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1654.3744177475528, + 1093.728336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1651.3744177475528, + 1093.728336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1648.3744177475528, + 1093.728336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1645.3744177475528, + 1093.728336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1642.3744177475528, + 1093.728336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1639.3744177475528, + 1093.728336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1636.3744177475528, + 1093.728336618402, + 36.83194980113184 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1633.3744177475528, + 1093.728336618402, + 36.83194980113184 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + 1100.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_23-39-14_1852803193/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_23-39-14_1852803193/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b61da0fd64d74b2f415c4516f42c29be017629f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_23-39-14_1852803193/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2241.126312148155, + -2128.9325245627037, + 36.49311126261995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2241.126312148155, + -2125.9325245627037, + 36.49311126261995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2241.126312148155, + -2122.9325245627037, + 36.49311126261995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2241.126312148155, + -2119.9325245627037, + 36.49311126261995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2241.126312148155, + -2116.9325245627037, + 36.49311126261995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2241.126312148155, + -2113.9325245627037, + 36.49311126261995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2241.126312148155, + -2110.9325245627037, + 36.49311126261995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2241.126312148155, + -2107.9325245627037, + 36.49311126261995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2241.126312148155, + -2104.9325245627037, + 36.49311126261995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2241.126312148155, + -2101.9325245627037, + 36.49311126261995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2241.126312148155, + -2098.9325245627037, + 36.49311126261995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2241.126312148155, + -2095.9325245627037, + 36.49311126261995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2241.126312148155, + -2092.9325245627037, + 36.49311126261995 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2241.126312148155, + -2089.9325245627037, + 36.49311126261995 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2240.0, + -2060.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_23-45-57_1035839366/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_23-45-57_1035839366/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..02b318826d8644d2c58f5734b9cade5d96376673 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_23-45-57_1035839366/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 350.35606196928234, + 869.4136076483998, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 351.85606196928234, + 866.8155314370465, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 353.35606196928234, + 864.2174552256931, + 16.41884779522944 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 353.35606196928234, + 864.2174552256931, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 355.95413818063565, + 862.7174552256931, + 16.41884779522944 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 355.95413818063565, + 862.7174552256931, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 357.45413818063565, + 860.1193790143398, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 358.95413818063565, + 857.5213028029864, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 360.45413818063565, + 854.923226591633, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 361.95413818063565, + 852.3251503802796, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 363.45413818063565, + 849.7270741689263, + 16.41884779522944 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 363.45413818063565, + 849.7270741689263, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 366.05221439198897, + 848.2270741689263, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 368.6502906033423, + 846.7270741689263, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 371.2483668146956, + 845.2270741689263, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 373.8464430260489, + 843.7270741689263, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 376.44451923740223, + 842.2270741689263, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 379.04259544875555, + 840.7270741689263, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 381.64067166010886, + 839.2270741689263, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 384.2387478714622, + 837.7270741689263, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 386.8368240828155, + 836.2270741689263, + 16.41884779522944 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 386.8368240828155, + 836.2270741689263, + 16.41884779522944 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 386.8368240828155, + 836.2270741689263, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 386.8368240828155, + 833.2270741689263, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 386.8368240828155, + 830.2270741689263, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 386.8368240828155, + 827.2270741689263, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 386.8368240828155, + 824.2270741689263, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 386.8368240828155, + 821.2270741689263, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 386.8368240828155, + 818.2270741689263, + 16.41884779522944 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 386.8368240828155, + 818.2270741689263, + 16.41884779522944 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 386.8368240828155, + 818.2270741689263, + 16.41884779522944 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 389.4349002941688, + 816.7270741689263, + 16.41884779522944 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982989 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 408.0, + 796.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_23-5-28_733628447/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_23-5-28_733628447/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8eb8e1af1146b219b628a3913d63e2c63df75ff7 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_23-5-28_733628447/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1153.9717107499037, + 789.9546771646502, + 26.61697418838594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1150.9717107499037, + 789.9546771646502, + 26.61697418838594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1147.9717107499037, + 789.9546771646502, + 26.61697418838594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1144.9717107499037, + 789.9546771646502, + 26.61697418838594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1141.9717107499037, + 789.9546771646502, + 26.61697418838594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1138.9717107499037, + 789.9546771646502, + 26.61697418838594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1135.9717107499037, + 789.9546771646502, + 26.61697418838594 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1135.9717107499037, + 789.9546771646502, + 26.61697418838594 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1133.3736345385503, + 788.4546771646502, + 26.61697418838594 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1130.775558327197, + 786.9546771646502, + 26.61697418838594 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1080.0, + 776.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-1_23-53-8_1994159651/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_23-53-8_1994159651/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..325f9c1c39fac2724eba12221dcc08245357f774 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-1_23-53-8_1994159651/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1374.4162265899358, + 1252.6083693671237, + 15.314972277084834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1377.4162265899358, + 1252.6083693671237, + 15.314972277084834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1380.4162265899358, + 1252.6083693671237, + 15.314972277084834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1383.4162265899358, + 1252.6083693671237, + 15.314972277084834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1386.4162265899358, + 1252.6083693671237, + 15.314972277084834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1389.4162265899358, + 1252.6083693671237, + 15.314972277084834 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1392.4162265899358, + 1252.6083693671237, + 15.314972277084834 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1392.4162265899358, + 1252.6083693671237, + 15.314972277084834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1395.0143028012892, + 1251.1083693671237, + 15.314972277084834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1397.6123790126426, + 1249.6083693671237, + 15.314972277084834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1400.210455223996, + 1248.1083693671237, + 15.314972277084834 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1440.0, + 1236.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-18-30_1622838287/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-18-30_1622838287/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..49c5c0cc7c2d15abee299bc704d25283d4c0057d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-18-30_1622838287/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2673.349619465894, + -123.24036466458618, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2670.349619465894, + -123.24036466458618, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2667.349619465894, + -123.24036466458618, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2664.349619465894, + -123.24036466458618, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2661.349619465894, + -123.24036466458618, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2658.349619465894, + -123.24036466458618, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2655.349619465894, + -123.24036466458618, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2652.349619465894, + -123.24036466458618, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2649.349619465894, + -123.24036466458618, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2646.349619465894, + -123.24036466458618, + 31.69405666890833 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2646.349619465894, + -123.24036466458618, + 31.69405666890833 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2646.349619465894, + -123.24036466458618, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2644.849619465894, + -125.8384408759395, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2643.349619465894, + -128.43651708729283, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2641.849619465894, + -131.03459329864614, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2640.349619465894, + -133.63266950999946, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2638.849619465894, + -136.23074572135278, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2637.349619465894, + -138.8288219327061, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2635.849619465894, + -141.4268981440594, + 31.69405666890833 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2635.849619465894, + -141.4268981440594, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2635.849619465894, + -144.4268981440594, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2635.849619465894, + -147.4268981440594, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2635.849619465894, + -150.4268981440594, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2635.849619465894, + -153.4268981440594, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2635.849619465894, + -156.4268981440594, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2635.849619465894, + -159.4268981440594, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2635.849619465894, + -162.4268981440594, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2635.849619465894, + -165.4268981440594, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2635.849619465894, + -168.4268981440594, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2635.849619465894, + -171.4268981440594, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2635.849619465894, + -174.4268981440594, + 31.69405666890833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2635.849619465894, + -177.4268981440594, + 31.69405666890833 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2624.0, + -192.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-2-32_1032684367/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-2-32_1032684367/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd63f411d04748ad1240bff4ebceca724d08a09f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-2-32_1032684367/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -827.9909943357408, + -161.69770899864906, + 28.5871647129979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -826.4909943357408, + -164.29578521000238, + 28.5871647129979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -824.9909943357408, + -166.8938614213557, + 28.5871647129979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -823.4909943357408, + -169.491937632709, + 28.5871647129979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -821.9909943357408, + -172.09001384406233, + 28.5871647129979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -820.4909943357408, + -174.68809005541564, + 28.5871647129979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -818.9909943357408, + -177.28616626676896, + 28.5871647129979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -817.4909943357408, + -179.88424247812227, + 28.5871647129979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -815.9909943357408, + -182.4823186894756, + 28.5871647129979 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -815.9909943357408, + -182.4823186894756, + 28.5871647129979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -815.9909943357408, + -185.4823186894756, + 28.5871647129979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -815.9909943357408, + -188.4823186894756, + 28.5871647129979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -815.9909943357408, + -191.4823186894756, + 28.5871647129979 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -815.9909943357408, + -194.4823186894756, + 28.5871647129979 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -808.0, + -224.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-3-14_96198530/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-3-14_96198530/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c2955548e6e7a335c2f1a327a99594a0def73a32 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-3-14_96198530/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2253.6167011216608, + 338.31024572830785, + 33.86399196847045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2256.6167011216608, + 338.31024572830785, + 33.86399196847045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2259.6167011216608, + 338.31024572830785, + 33.86399196847045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2262.6167011216608, + 338.31024572830785, + 33.86399196847045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2265.6167011216608, + 338.31024572830785, + 33.86399196847045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2268.6167011216608, + 338.31024572830785, + 33.86399196847045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2271.6167011216608, + 338.31024572830785, + 33.86399196847045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2274.6167011216608, + 338.31024572830785, + 33.86399196847045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2277.6167011216608, + 338.31024572830785, + 33.86399196847045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2280.6167011216608, + 338.31024572830785, + 33.86399196847045 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2280.6167011216608, + 338.31024572830785, + 33.86399196847045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2283.214777333014, + 339.81024572830785, + 33.86399196847045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2285.812853544367, + 341.31024572830785, + 33.86399196847045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2288.41092975572, + 342.81024572830785, + 33.86399196847045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2291.0090059670733, + 344.31024572830785, + 33.86399196847045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2293.6070821784265, + 345.81024572830785, + 33.86399196847045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2296.2051583897796, + 347.31024572830785, + 33.86399196847045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2298.8032346011328, + 348.81024572830785, + 33.86399196847045 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2298.8032346011328, + 348.81024572830785, + 33.86399196847045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2301.8032346011328, + 348.81024572830785, + 33.86399196847045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2304.8032346011328, + 348.81024572830785, + 33.86399196847045 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2324.0, + 352.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-4-40_854155594/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-4-40_854155594/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..929d7d0a901287eabb072e87922fe21c520746a8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-4-40_854155594/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 638.876707113194, + 1126.79583848211, + 35.49610087299621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 635.876707113194, + 1126.79583848211, + 35.49610087299621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 632.876707113194, + 1126.79583848211, + 35.49610087299621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 629.876707113194, + 1126.79583848211, + 35.49610087299621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 626.876707113194, + 1126.79583848211, + 35.49610087299621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 623.876707113194, + 1126.79583848211, + 35.49610087299621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 620.876707113194, + 1126.79583848211, + 35.49610087299621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 617.876707113194, + 1126.79583848211, + 35.49610087299621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 614.876707113194, + 1126.79583848211, + 35.49610087299621 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 614.876707113194, + 1126.79583848211, + 35.49610087299621 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 612.2786309018406, + 1125.29583848211, + 35.49610087299621 + ], + "type": "stop", + "value": 0, + "yaw": 3.665191429188092 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 568.0, + 1120.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-44-46_47830643/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-44-46_47830643/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bda8db703947daebf841c95187367f7e6ad881fd --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-44-46_47830643/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1308.282928964738, + -2097.950043792005, + 17.789557366418766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1308.282928964738, + -2094.950043792005, + 17.789557366418766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1308.282928964738, + -2091.950043792005, + 17.789557366418766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1308.282928964738, + -2088.950043792005, + 17.789557366418766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1308.282928964738, + -2085.950043792005, + 17.789557366418766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1308.282928964738, + -2082.950043792005, + 17.789557366418766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1308.282928964738, + -2079.950043792005, + 17.789557366418766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1308.282928964738, + -2076.950043792005, + 17.789557366418766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1308.282928964738, + -2073.950043792005, + 17.789557366418766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1308.282928964738, + -2070.950043792005, + 17.789557366418766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1308.282928964738, + -2067.950043792005, + 17.789557366418766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1308.282928964738, + -2064.950043792005, + 17.789557366418766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1308.282928964738, + -2061.950043792005, + 17.789557366418766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1308.282928964738, + -2058.950043792005, + 17.789557366418766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1308.282928964738, + -2055.950043792005, + 17.789557366418766 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1308.282928964738, + -2055.950043792005, + 17.789557366418766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1309.782928964738, + -2053.351967580652, + 17.789557366418766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1311.282928964738, + -2050.753891369299, + 17.789557366418766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1312.782928964738, + -2048.1558151579457, + 17.789557366418766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1314.282928964738, + -2045.5577389465923, + 17.789557366418766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1315.782928964738, + -2042.959662735239, + 17.789557366418766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1317.282928964738, + -2040.3615865238855, + 17.789557366418766 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1320.0, + -2008.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-56-49_625728906/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-56-49_625728906/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7569708159a14bd454bf234daf80ad51018747fb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-56-49_625728906/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4520.471195217308, + 1191.8377033623535, + 23.27928035529449 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4521.971195217308, + 1194.435779573707, + 23.27928035529449 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4523.471195217308, + 1197.0338557850603, + 23.27928035529449 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4524.971195217308, + 1199.6319319964136, + 23.27928035529449 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4526.471195217308, + 1202.230008207767, + 23.27928035529449 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4527.971195217308, + 1204.8280844191204, + 23.27928035529449 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4529.471195217308, + 1207.4261606304738, + 23.27928035529449 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4530.971195217308, + 1210.0242368418271, + 23.27928035529449 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4532.471195217308, + 1212.6223130531805, + 23.27928035529449 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4533.971195217308, + 1215.2203892645339, + 23.27928035529449 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4535.471195217308, + 1217.8184654758873, + 23.27928035529449 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4536.971195217308, + 1220.4165416872406, + 23.27928035529449 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4538.471195217308, + 1223.014617898594, + 23.27928035529449 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4539.971195217308, + 1225.6126941099474, + 23.27928035529449 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4541.471195217308, + 1228.2107703213007, + 23.27928035529449 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4542.971195217308, + 1230.8088465326541, + 23.27928035529449 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4544.471195217308, + 1233.4069227440075, + 23.27928035529449 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4544.471195217308, + 1233.4069227440075, + 23.27928035529449 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4544.471195217308, + 1236.4069227440075, + 23.27928035529449 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4544.471195217308, + 1239.4069227440075, + 23.27928035529449 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4552.0, + 1260.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-6-29_429857344/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-6-29_429857344/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3851c4311c24d4ef980b450c2b476ea66b2355db --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_0-6-29_429857344/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 965.0094703813165, + -478.98617386255415, + 16.528313331585657 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 962.4113941699632, + -477.48617386255415, + 16.528313331585657 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 959.8133179586098, + -475.98617386255415, + 16.528313331585657 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 957.2152417472564, + -474.48617386255415, + 16.528313331585657 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 954.617165535903, + -472.98617386255415, + 16.528313331585657 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 952.0190893245497, + -471.48617386255415, + 16.528313331585657 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 949.4210131131963, + -469.98617386255415, + 16.528313331585657 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 946.8229369018429, + -468.48617386255415, + 16.528313331585657 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 944.2248606904895, + -466.98617386255415, + 16.528313331585657 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 941.6267844791362, + -465.48617386255415, + 16.528313331585657 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 939.0287082677828, + -463.98617386255415, + 16.528313331585657 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 936.4306320564294, + -462.48617386255415, + 16.528313331585657 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 933.8325558450761, + -460.98617386255415, + 16.528313331585657 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 931.2344796337227, + -459.48617386255415, + 16.528313331585657 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 928.6364034223693, + -457.98617386255415, + 16.528313331585657 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 900.0, + -444.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-11-37_466747319/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-11-37_466747319/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..12de641298da802b60d79edfbc0f076416d9ba65 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-11-37_466747319/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3371.8685506464144, + 493.9155378189438, + 16.973833322531032 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3369.2704744350613, + 492.4155378189438, + 16.973833322531032 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3366.672398223708, + 490.9155378189438, + 16.973833322531032 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3364.074322012355, + 489.4155378189438, + 16.973833322531032 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3361.476245801002, + 487.9155378189438, + 16.973833322531032 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3358.8781695896487, + 486.4155378189438, + 16.973833322531032 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3356.2800933782955, + 484.9155378189438, + 16.973833322531032 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3288.0, + 444.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-12-36_1426608253/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-12-36_1426608253/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..574452a9e84e34afeb226bcdb2204eff63f11013 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-12-36_1426608253/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4091.8608643073203, + 194.5131368062177, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4094.8608643073203, + 194.5131368062177, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4097.86086430732, + 194.5131368062177, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4100.86086430732, + 194.5131368062177, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4103.86086430732, + 194.5131368062177, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4106.86086430732, + 194.5131368062177, + 34.3648068198336 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4106.86086430732, + 194.5131368062177, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4109.458940518673, + 196.0131368062177, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4112.057016730027, + 197.5131368062177, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4114.65509294138, + 199.0131368062177, + 34.3648068198336 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4114.65509294138, + 199.0131368062177, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4117.65509294138, + 199.0131368062177, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4120.65509294138, + 199.0131368062177, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4123.65509294138, + 199.0131368062177, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4126.65509294138, + 199.0131368062177, + 34.3648068198336 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4126.65509294138, + 199.0131368062177, + 34.3648068198336 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4126.65509294138, + 199.0131368062177, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4128.15509294138, + 196.41506059486437, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4129.65509294138, + 193.81698438351106, + 34.3648068198336 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4129.65509294138, + 193.81698438351106, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4132.253169152733, + 192.31698438351106, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4134.851245364086, + 190.81698438351106, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4137.449321575439, + 189.31698438351106, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4140.047397786792, + 187.81698438351106, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4142.6454739981455, + 186.31698438351106, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4145.243550209499, + 184.81698438351106, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4147.841626420852, + 183.31698438351106, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4150.439702632205, + 181.81698438351106, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4153.037778843558, + 180.31698438351106, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4155.635855054911, + 178.81698438351106, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4158.233931266264, + 177.31698438351106, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4160.8320074776175, + 175.81698438351106, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4163.430083688971, + 174.31698438351106, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4166.028159900324, + 172.81698438351106, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4168.626236111677, + 171.31698438351106, + 34.3648068198336 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4168.626236111677, + 171.31698438351106, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4171.626236111677, + 171.31698438351106, + 34.3648068198336 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4174.626236111677, + 171.31698438351106, + 34.3648068198336 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4188.0, + 168.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-15-27_65339680/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-15-27_65339680/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be8fbbd40d53ad755b9c46edc925237fe186a45e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-15-27_65339680/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2776.2646230962987, + 2475.2653007916037, + 35.05889317695384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2778.862699307652, + 2476.7653007916037, + 35.05889317695384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2781.460775519005, + 2478.2653007916037, + 35.05889317695384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2784.058851730358, + 2479.7653007916037, + 35.05889317695384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2786.6569279417113, + 2481.2653007916037, + 35.05889317695384 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2789.2550041530644, + 2482.7653007916037, + 35.05889317695384 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2789.2550041530644, + 2482.7653007916037, + 35.05889317695384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2790.7550041530644, + 2485.363377002957, + 35.05889317695384 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2792.2550041530644, + 2487.96145321431, + 35.05889317695384 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2836.0, + 2528.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-25-28_1140858988/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-25-28_1140858988/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b6fdf22f6932995a321f4502c245d5b66d43c405 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-25-28_1140858988/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 693.8820658326985, + -154.7780788336785, + 17.066977730834996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 691.2839896213452, + -153.2780788336785, + 17.066977730834996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 688.6859134099918, + -151.7780788336785, + 17.066977730834996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 686.0878371986385, + -150.2780788336785, + 17.066977730834996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 683.4897609872851, + -148.7780788336785, + 17.066977730834996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 680.8916847759317, + -147.2780788336785, + 17.066977730834996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 678.2936085645783, + -145.7780788336785, + 17.066977730834996 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 678.2936085645783, + -145.7780788336785, + 17.066977730834996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 676.7936085645783, + -143.1800026223252, + 17.066977730834996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 675.2936085645783, + -140.58192641097187, + 17.066977730834996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 673.7936085645783, + -137.98385019961856, + 17.066977730834996 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 672.2936085645783, + -135.38577398826524, + 17.066977730834996 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 672.2936085645783, + -135.38577398826524, + 17.066977730834996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 672.2936085645783, + -132.38577398826524, + 17.066977730834996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 672.2936085645783, + -129.38577398826524, + 17.066977730834996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 672.2936085645783, + -126.38577398826524, + 17.066977730834996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 672.2936085645783, + -123.38577398826524, + 17.066977730834996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 672.2936085645783, + -120.38577398826524, + 17.066977730834996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 672.2936085645783, + -117.38577398826524, + 17.066977730834996 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 672.2936085645783, + -114.38577398826524, + 17.066977730834996 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 660.0, + -92.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-3-13_1718930959/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-3-13_1718930959/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4eea3947652fb44c1539bc5514412c9051be7e68 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-3-13_1718930959/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 342.4626424265193, + -131.90753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 345.4626424265193, + -131.90753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 348.4626424265193, + -131.90753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 351.4626424265193, + -131.90753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 354.4626424265193, + -131.90753087138398, + 17.749519326252802 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 354.4626424265193, + -131.90753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 357.06071863787264, + -130.40753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 359.65879484922596, + -128.90753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 362.2568710605793, + -127.40753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 364.8549472719326, + -125.90753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 367.4530234832859, + -124.40753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 370.0510996946392, + -122.90753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 372.64917590599254, + -121.40753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 375.24725211734585, + -119.90753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 377.84532832869917, + -118.40753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 380.4434045400525, + -116.90753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 383.0414807514058, + -115.40753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 385.6395569627591, + -113.90753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 388.23763317411243, + -112.40753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 390.83570938546575, + -110.90753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 393.43378559681906, + -109.40753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 396.0318618081724, + -107.90753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 398.6299380195257, + -106.40753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 401.228014230879, + -104.90753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 403.8260904422323, + -103.40753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 406.42416665358564, + -101.90753087138398, + 17.749519326252802 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 406.42416665358564, + -101.90753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 409.42416665358564, + -101.90753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 412.42416665358564, + -101.90753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 415.42416665358564, + -101.90753087138398, + 17.749519326252802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 418.42416665358564, + -101.90753087138398, + 17.749519326252802 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 432.0, + -96.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-39-48_2063018202/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-39-48_2063018202/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94a5719c876c7ca59fae08e5bbe2b7b2f7b42a99 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-39-48_2063018202/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 107.43568310880484, + -2053.665465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 110.43568310880484, + -2053.665465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 113.43568310880484, + -2053.665465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 116.43568310880484, + -2053.665465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 119.43568310880484, + -2053.665465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 122.43568310880484, + -2053.665465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 125.43568310880484, + -2053.665465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 128.43568310880482, + -2053.665465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 131.43568310880482, + -2053.665465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 134.43568310880482, + -2053.665465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 137.43568310880482, + -2053.665465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 140.43568310880482, + -2053.665465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 143.43568310880482, + -2053.665465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 146.43568310880482, + -2053.665465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 149.43568310880482, + -2053.665465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 152.43568310880482, + -2053.665465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 155.43568310880482, + -2053.665465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 158.43568310880482, + -2053.665465260414, + 35.26316625351872 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 158.43568310880482, + -2053.665465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 161.03375932015814, + -2052.165465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 163.63183553151146, + -2050.665465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 166.22991174286477, + -2049.165465260414, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 168.8279879542181, + -2047.6654652604138, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 171.4260641655714, + -2046.1654652604138, + 35.26316625351872 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 174.02414037692472, + -2044.6654652604138, + 35.26316625351872 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 196.0, + -2044.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-42-51_2111060014/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-42-51_2111060014/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..01c5ae77caf0b36a628c52a7180cf0e317711648 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-42-51_2111060014/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1828.4922246366334, + -2711.9497210576255, + 26.95253852285204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1828.4922246366334, + -2708.9497210576255, + 26.95253852285204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1828.4922246366334, + -2705.9497210576255, + 26.95253852285204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1828.4922246366334, + -2702.9497210576255, + 26.95253852285204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1828.4922246366334, + -2699.9497210576255, + 26.95253852285204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1828.4922246366334, + -2696.9497210576255, + 26.95253852285204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1828.4922246366334, + -2693.9497210576255, + 26.95253852285204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1828.4922246366334, + -2690.9497210576255, + 26.95253852285204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1828.4922246366334, + -2687.9497210576255, + 26.95253852285204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1828.4922246366334, + -2684.9497210576255, + 26.95253852285204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1828.4922246366334, + -2681.9497210576255, + 26.95253852285204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1828.4922246366334, + -2678.9497210576255, + 26.95253852285204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1828.4922246366334, + -2675.9497210576255, + 26.95253852285204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1828.4922246366334, + -2672.9497210576255, + 26.95253852285204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1828.4922246366334, + -2669.9497210576255, + 26.95253852285204 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1828.4922246366334, + -2666.9497210576255, + 26.95253852285204 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1828.4922246366334, + -2666.9497210576255, + 26.95253852285204 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1829.9922246366334, + -2664.3516448462724, + 26.95253852285204 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1831.4922246366334, + -2661.7535686349192, + 26.95253852285204 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1832.9922246366334, + -2659.155492423566, + 26.95253852285204 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1834.4922246366334, + -2656.557416212213, + 26.95253852285204 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1840.0, + -2628.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-43-54_783175739/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-43-54_783175739/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79093e50369e1469d1495b89d458586f953e788d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-43-54_783175739/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 309.66649579825014, + 541.1193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 307.0684195868968, + 542.6193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 304.4703433755435, + 544.1193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 301.8722671641902, + 545.6193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 299.2741909528369, + 547.1193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 296.67611474148356, + 548.6193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 294.07803853013024, + 550.1193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 291.4799623187769, + 551.6193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 288.8818861074236, + 553.1193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 286.2838098960703, + 554.6193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 283.685733684717, + 556.1193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 281.08765747336366, + 557.6193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 278.48958126201035, + 559.1193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 275.89150505065703, + 560.6193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 273.2934288393037, + 562.1193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 270.6953526279504, + 563.6193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 268.0972764165971, + 565.1193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 265.49920020524377, + 566.6193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 262.90112399389045, + 568.1193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 260.30304778253713, + 569.6193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 257.7049715711838, + 571.1193414301669, + 15.700934455060011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 255.1068953598305, + 572.6193414301669, + 15.700934455060011 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 232.0, + 588.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-46-32_783387964/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-46-32_783387964/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..425adc09ceadd46189efd37f225dc0aa9d4cddc6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-46-32_783387964/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1474.3242282382316, + 1336.6115937998093, + 24.951267945538632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1472.8242282382316, + 1339.2096700111626, + 24.951267945538632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1471.3242282382316, + 1341.807746222516, + 24.951267945538632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1469.8242282382316, + 1344.4058224338694, + 24.951267945538632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1468.3242282382316, + 1347.0038986452228, + 24.951267945538632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1466.8242282382316, + 1349.6019748565761, + 24.951267945538632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1465.3242282382316, + 1352.2000510679295, + 24.951267945538632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1463.8242282382316, + 1354.7981272792829, + 24.951267945538632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1462.3242282382316, + 1357.3962034906363, + 24.951267945538632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1460.8242282382316, + 1359.9942797019896, + 24.951267945538632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1459.3242282382316, + 1362.592355913343, + 24.951267945538632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1457.8242282382316, + 1365.1904321246964, + 24.951267945538632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1456.3242282382316, + 1367.7885083360497, + 24.951267945538632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1454.8242282382316, + 1370.3865845474031, + 24.951267945538632 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1453.3242282382316, + 1372.9846607587565, + 24.951267945538632 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1440.0, + 1392.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-54-15_128419117/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-54-15_128419117/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..687653a36eac62a639d773d8467b626ab847e0be --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-54-15_128419117/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 238.25319542563358, + -1533.4494208274416, + 35.34293568232476 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 241.25319542563358, + -1533.4494208274416, + 35.34293568232476 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 244.25319542563358, + -1533.4494208274416, + 35.34293568232476 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 247.25319542563358, + -1533.4494208274416, + 35.34293568232476 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 250.25319542563358, + -1533.4494208274416, + 35.34293568232476 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 253.25319542563358, + -1533.4494208274416, + 35.34293568232476 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 256.2531954256336, + -1533.4494208274416, + 35.34293568232476 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 259.2531954256336, + -1533.4494208274416, + 35.34293568232476 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 262.2531954256336, + -1533.4494208274416, + 35.34293568232476 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 265.2531954256336, + -1533.4494208274416, + 35.34293568232476 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 265.2531954256336, + -1533.4494208274416, + 35.34293568232476 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 265.2531954256336, + -1533.4494208274416, + 35.34293568232476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 266.7531954256336, + -1536.047497038795, + 35.34293568232476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 268.2531954256336, + -1538.6455732501483, + 35.34293568232476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 269.7531954256336, + -1541.2436494615017, + 35.34293568232476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 271.2531954256336, + -1543.841725672855, + 35.34293568232476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 272.7531954256336, + -1546.4398018842085, + 35.34293568232476 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 304.0, + -1560.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-56-3_1317875109/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-56-3_1317875109/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d2e49ed1ba0e6122246bc45344ca5f646df81650 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-56-3_1317875109/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1870.8481968799251, + 2281.8501192607414, + 34.962378797976555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1870.8481968799251, + 2284.8501192607414, + 34.962378797976555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1870.8481968799251, + 2287.8501192607414, + 34.962378797976555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1870.8481968799251, + 2290.8501192607414, + 34.962378797976555 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1872.0, + 2356.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-59-16_1979575260/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-59-16_1979575260/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af805c5ef6ba98f01f31adae0cbf2a967d6f864e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_1-59-16_1979575260/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1204.2843189796674, + 2028.3646712606123, + 32.658260247250965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1202.7843189796674, + 2030.9627474719657, + 32.658260247250965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1201.2843189796674, + 2033.560823683319, + 32.658260247250965 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1201.2843189796674, + 2033.560823683319, + 32.658260247250965 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1198.686242768314, + 2035.060823683319, + 32.658260247250965 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1198.686242768314, + 2035.060823683319, + 32.658260247250965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1197.186242768314, + 2037.6588998946725, + 32.658260247250965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1195.686242768314, + 2040.2569761060258, + 32.658260247250965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1194.186242768314, + 2042.8550523173792, + 32.658260247250965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1192.686242768314, + 2045.4531285287326, + 32.658260247250965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1191.186242768314, + 2048.0512047400857, + 32.658260247250965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1189.686242768314, + 2050.649280951439, + 32.658260247250965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1188.186242768314, + 2053.247357162792, + 32.658260247250965 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1188.186242768314, + 2053.247357162792, + 32.658260247250965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948681 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1188.186242768314, + 2056.247357162792, + 32.658260247250965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1188.186242768314, + 2059.247357162792, + 32.658260247250965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1188.186242768314, + 2062.247357162792, + 32.658260247250965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1188.186242768314, + 2065.247357162792, + 32.658260247250965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1188.186242768314, + 2068.247357162792, + 32.658260247250965 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1188.186242768314, + 2068.247357162792, + 32.658260247250965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1186.686242768314, + 2070.845433374145, + 32.658260247250965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1185.186242768314, + 2073.4435095854983, + 32.658260247250965 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1183.686242768314, + 2076.0415857968515, + 32.658260247250965 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1183.686242768314, + 2076.0415857968515, + 32.658260247250965 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982706 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1181.0881665569607, + 2077.5415857968515, + 32.658260247250965 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1178.4900903456073, + 2079.0415857968515, + 32.658260247250965 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1160.0, + 2108.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-10-49_474960250/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-10-49_474960250/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9fadfd988e29f2cdace89be07201e0cc7a062595 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-10-49_474960250/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -825.297945974997, + 2179.1893559200957, + 15.73438575758022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -825.297945974997, + 2182.1893559200957, + 15.73438575758022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -825.297945974997, + 2185.1893559200957, + 15.73438575758022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -825.297945974997, + 2188.1893559200957, + 15.73438575758022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -825.297945974997, + 2191.1893559200957, + 15.73438575758022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -825.297945974997, + 2194.1893559200957, + 15.73438575758022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -825.297945974997, + 2197.1893559200957, + 15.73438575758022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -825.297945974997, + 2200.1893559200957, + 15.73438575758022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -825.297945974997, + 2203.1893559200957, + 15.73438575758022 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -825.297945974997, + 2203.1893559200957, + 15.73438575758022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -826.797945974997, + 2205.787432131449, + 15.73438575758022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -828.297945974997, + 2208.385508342802, + 15.73438575758022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -829.797945974997, + 2210.983584554155, + 15.73438575758022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -831.297945974997, + 2213.5816607655083, + 15.73438575758022 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -832.797945974997, + 2216.1797369768615, + 15.73438575758022 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -836.0, + 2240.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-3-26_397977904/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-3-26_397977904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f3f5784b9c19c4b40ead9b743baf3e4e2b3ab41 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-3-26_397977904/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3465.5135866510664, + 663.5067479417794, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3468.5135866510664, + 663.5067479417794, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3471.5135866510664, + 663.5067479417794, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3474.5135866510664, + 663.5067479417794, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3477.5135866510664, + 663.5067479417794, + 19.575226919445015 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3477.5135866510664, + 663.5067479417794, + 19.575226919445015 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3477.5135866510664, + 663.5067479417794, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3479.0135866510664, + 660.908671730426, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3480.5135866510664, + 658.3105955190726, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3482.0135866510664, + 655.7125193077193, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3483.5135866510664, + 653.1144430963659, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3485.0135866510664, + 650.5163668850125, + 19.575226919445015 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3485.0135866510664, + 650.5163668850125, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3487.6116628624195, + 649.0163668850125, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3490.2097390737727, + 647.5163668850125, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3492.807815285126, + 646.0163668850125, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3495.405891496479, + 644.5163668850125, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3498.003967707832, + 643.0163668850125, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3500.6020439191852, + 641.5163668850125, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3503.2001201305384, + 640.0163668850125, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3505.7981963418915, + 638.5163668850125, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3508.3962725532447, + 637.0163668850125, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3510.994348764598, + 635.5163668850125, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3513.592424975951, + 634.0163668850125, + 19.575226919445015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3516.190501187304, + 632.5163668850125, + 19.575226919445015 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3544.0, + 612.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-30-42_310936585/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-30-42_310936585/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd1cd715689e6a9a69c6052ab0cfee52f6dfac48 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-30-42_310936585/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 687.4334420883837, + 1196.9197854735958, + 35.12976644860305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 690.4334420883837, + 1196.9197854735958, + 35.12976644860305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 693.4334420883837, + 1196.9197854735958, + 35.12976644860305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 696.4334420883837, + 1196.9197854735958, + 35.12976644860305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 699.4334420883837, + 1196.9197854735958, + 35.12976644860305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 702.4334420883837, + 1196.9197854735958, + 35.12976644860305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 705.4334420883837, + 1196.9197854735958, + 35.12976644860305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 708.4334420883837, + 1196.9197854735958, + 35.12976644860305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 711.4334420883837, + 1196.9197854735958, + 35.12976644860305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 714.4334420883837, + 1196.9197854735958, + 35.12976644860305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 717.4334420883837, + 1196.9197854735958, + 35.12976644860305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 720.4334420883837, + 1196.9197854735958, + 35.12976644860305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 723.4334420883837, + 1196.9197854735958, + 35.12976644860305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 726.4334420883837, + 1196.9197854735958, + 35.12976644860305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 729.4334420883837, + 1196.9197854735958, + 35.12976644860305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 732.4334420883837, + 1196.9197854735958, + 35.12976644860305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 735.4334420883837, + 1196.9197854735958, + 35.12976644860305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 738.4334420883837, + 1196.9197854735958, + 35.12976644860305 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 738.4334420883837, + 1196.9197854735958, + 35.12976644860305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 741.031518299737, + 1198.4197854735958, + 35.12976644860305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 743.6295945110903, + 1199.9197854735958, + 35.12976644860305 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 746.2276707224437, + 1201.4197854735958, + 35.12976644860305 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 764.0, + 1204.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-4-36_915989944/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-4-36_915989944/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee25a14992845faa48f2cfd4949525c3575a0c24 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-4-36_915989944/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1615.2959206572962, + 1991.3227002577978, + 18.34271530465029 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1612.6978444459428, + 1989.8227002577978, + 18.34271530465029 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1612.6978444459428, + 1989.8227002577978, + 18.34271530465029 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1611.1978444459428, + 1987.2246240464444, + 18.34271530465029 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1609.6978444459428, + 1984.626547835091, + 18.34271530465029 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1608.1978444459428, + 1982.0284716237377, + 18.34271530465029 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1606.6978444459428, + 1979.4303954123843, + 18.34271530465029 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1606.6978444459428, + 1979.4303954123843, + 18.34271530465029 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1604.0997682345894, + 1977.9303954123843, + 18.34271530465029 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1601.501692023236, + 1976.4303954123843, + 18.34271530465029 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1598.9036158118827, + 1974.9303954123843, + 18.34271530465029 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1596.3055396005293, + 1973.4303954123843, + 18.34271530465029 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1593.707463389176, + 1971.9303954123843, + 18.34271530465029 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1591.1093871778226, + 1970.4303954123843, + 18.34271530465029 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1588.5113109664692, + 1968.9303954123843, + 18.34271530465029 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1588.5113109664692, + 1968.9303954123843, + 18.34271530465029 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1585.5113109664692, + 1968.9303954123843, + 18.34271530465029 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1582.5113109664692, + 1968.9303954123843, + 18.34271530465029 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1579.5113109664692, + 1968.9303954123843, + 18.34271530465029 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1576.5113109664692, + 1968.9303954123843, + 18.34271530465029 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1573.5113109664692, + 1968.9303954123843, + 18.34271530465029 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1570.5113109664692, + 1968.9303954123843, + 18.34271530465029 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1556.0, + 1960.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-49-44_1012707329/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-49-44_1012707329/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d89955e26e27243ef3cf134777dd3a372ab9ff92 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-49-44_1012707329/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2359.7750962647733, + 1545.4153952048757, + 23.16829269315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2358.2750962647733, + 1548.013471416229, + 23.16829269315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2356.7750962647733, + 1550.6115476275825, + 23.16829269315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2355.2750962647733, + 1553.2096238389358, + 23.16829269315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2353.7750962647733, + 1555.8077000502892, + 23.16829269315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2352.2750962647733, + 1558.4057762616426, + 23.16829269315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2350.7750962647733, + 1561.003852472996, + 23.16829269315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2349.2750962647733, + 1563.6019286843493, + 23.16829269315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2347.7750962647733, + 1566.2000048957027, + 23.16829269315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2346.2750962647733, + 1568.798081107056, + 23.16829269315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2344.7750962647733, + 1571.3961573184095, + 23.16829269315224 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2344.7750962647733, + 1571.3961573184095, + 23.16829269315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2344.7750962647733, + 1574.3961573184095, + 23.16829269315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2344.7750962647733, + 1577.3961573184095, + 23.16829269315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2344.7750962647733, + 1580.3961573184095, + 23.16829269315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2344.7750962647733, + 1583.3961573184095, + 23.16829269315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2344.7750962647733, + 1586.3961573184095, + 23.16829269315224 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2332.0, + 1620.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-5-45_1014701101/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-5-45_1014701101/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd47edd880b11a8ab21c92d862fb1bf90aa358ad --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-5-45_1014701101/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2859.6898141359684, + -1812.2293489983401, + 32.003313740902854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2858.1898141359684, + -1814.8274252096935, + 32.003313740902854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2856.6898141359684, + -1817.4255014210469, + 32.003313740902854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2855.1898141359684, + -1820.0235776324002, + 32.003313740902854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2853.6898141359684, + -1822.6216538437536, + 32.003313740902854 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2853.6898141359684, + -1822.6216538437536, + 32.003313740902854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2853.6898141359684, + -1825.6216538437536, + 32.003313740902854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2853.6898141359684, + -1828.6216538437536, + 32.003313740902854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2853.6898141359684, + -1831.6216538437536, + 32.003313740902854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2853.6898141359684, + -1834.6216538437536, + 32.003313740902854 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2840.0, + -1880.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-50-18_445968158/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-50-18_445968158/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e2b7e7381c181e717598db792458dc7d8758ea4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-50-18_445968158/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2469.3053392143843, + -575.5649205787524, + 34.19706767752777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2472.3053392143843, + -575.5649205787524, + 34.19706767752777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2475.3053392143843, + -575.5649205787524, + 34.19706767752777 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2568.0, + -580.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-51-59_1366405247/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-51-59_1366405247/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5eddefe3ab228a11e0cd393c071368b4ef4f37ed --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-51-59_1366405247/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3008.924423468305, + 2413.1908727347745, + 15.327438948355333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3011.924423468305, + 2413.1908727347745, + 15.327438948355333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3014.924423468305, + 2413.1908727347745, + 15.327438948355333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3017.924423468305, + 2413.1908727347745, + 15.327438948355333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3020.924423468305, + 2413.1908727347745, + 15.327438948355333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3023.924423468305, + 2413.1908727347745, + 15.327438948355333 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3026.924423468305, + 2413.1908727347745, + 15.327438948355333 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3026.924423468305, + 2413.1908727347745, + 15.327438948355333 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3026.924423468305, + 2413.1908727347745, + 15.327438948355333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3028.424423468305, + 2410.5927965234214, + 15.327438948355333 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3029.924423468305, + 2407.9947203120682, + 15.327438948355333 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3029.924423468305, + 2407.9947203120682, + 15.327438948355333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3032.5224996796583, + 2406.4947203120682, + 15.327438948355333 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3035.1205758910114, + 2404.9947203120682, + 15.327438948355333 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3072.0, + 2396.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-54-6_1149677717/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-54-6_1149677717/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..075167a89d0efdb5ced1555023b2dcbd6818db37 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_2-54-6_1149677717/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2811.8634093484416, + 455.17498570871106, + 31.57896239434259 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2810.3634093484416, + 457.7730619200644, + 31.57896239434259 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2808.8634093484416, + 460.3711381314177, + 31.57896239434259 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2807.3634093484416, + 462.969214342771, + 31.57896239434259 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2805.8634093484416, + 465.5672905541243, + 31.57896239434259 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2804.3634093484416, + 468.16536676547764, + 31.57896239434259 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2802.8634093484416, + 470.76344297683096, + 31.57896239434259 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2801.3634093484416, + 473.3615191881843, + 31.57896239434259 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2799.8634093484416, + 475.9595953995376, + 31.57896239434259 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2798.3634093484416, + 478.5576716108909, + 31.57896239434259 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2798.3634093484416, + 478.5576716108909, + 31.57896239434259 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2798.3634093484416, + 481.5576716108909, + 31.57896239434259 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2798.3634093484416, + 484.5576716108909, + 31.57896239434259 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2798.3634093484416, + 487.5576716108909, + 31.57896239434259 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2784.0, + 528.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-1-15_109967654/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-1-15_109967654/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..40ff7abb3f796790929c0f4f1686384d113e279b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-1-15_109967654/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2350.444163697816, + -1237.2106336259278, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2347.444163697816, + -1237.2106336259278, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2344.444163697816, + -1237.2106336259278, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2341.444163697816, + -1237.2106336259278, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2338.444163697816, + -1237.2106336259278, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2335.444163697816, + -1237.2106336259278, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2332.444163697816, + -1237.2106336259278, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2329.444163697816, + -1237.2106336259278, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2326.444163697816, + -1237.2106336259278, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2323.444163697816, + -1237.2106336259278, + 18.264736437478966 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2323.444163697816, + -1237.2106336259278, + 18.264736437478966 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2323.444163697816, + -1237.2106336259278, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2321.944163697816, + -1234.6125574145744, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2320.444163697816, + -1232.014481203221, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2318.944163697816, + -1229.4164049918677, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2317.444163697816, + -1226.8183287805143, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2315.944163697816, + -1224.220252569161, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2314.444163697816, + -1221.6221763578076, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2312.944163697816, + -1219.0241001464542, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2311.444163697816, + -1216.4260239351008, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2309.944163697816, + -1213.8279477237475, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2308.444163697816, + -1211.229871512394, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2306.944163697816, + -1208.6317953010407, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2305.444163697816, + -1206.0337190896873, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2303.944163697816, + -1203.435642878334, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2302.444163697816, + -1200.8375666669806, + 18.264736437478966 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2302.444163697816, + -1200.8375666669806, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2299.8460874864627, + -1199.3375666669806, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2297.2480112751095, + -1197.8375666669806, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2294.6499350637564, + -1196.3375666669806, + 18.264736437478966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2292.0518588524033, + -1194.8375666669806, + 18.264736437478966 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2276.0, + -1180.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-12-8_218574358/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-12-8_218574358/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ba87d2e34f094ffa16fdf27f6787ce70fca0367 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-12-8_218574358/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2069.6226754395757, + -2821.91065721811, + 35.85013179562897 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2069.6226754395757, + -2824.91065721811, + 35.85013179562897 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2069.6226754395757, + -2827.91065721811, + 35.85013179562897 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2069.6226754395757, + -2830.91065721811, + 35.85013179562897 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2069.6226754395757, + -2833.91065721811, + 35.85013179562897 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2069.6226754395757, + -2836.91065721811, + 35.85013179562897 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2069.6226754395757, + -2839.91065721811, + 35.85013179562897 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2069.6226754395757, + -2842.91065721811, + 35.85013179562897 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2069.6226754395757, + -2845.91065721811, + 35.85013179562897 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2069.6226754395757, + -2848.91065721811, + 35.85013179562897 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2069.6226754395757, + -2851.91065721811, + 35.85013179562897 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2069.6226754395757, + -2854.91065721811, + 35.85013179562897 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2069.6226754395757, + -2857.91065721811, + 35.85013179562897 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2069.6226754395757, + -2860.91065721811, + 35.85013179562897 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2069.6226754395757, + -2863.91065721811, + 35.85013179562897 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2069.6226754395757, + -2866.91065721811, + 35.85013179562897 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2069.6226754395757, + -2869.91065721811, + 35.85013179562897 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2069.6226754395757, + -2872.91065721811, + 35.85013179562897 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2068.0, + -2900.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-14-4_115133608/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-14-4_115133608/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b8f12226ee116ec29b2908665857b8feb648e74b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-14-4_115133608/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 438.1153623955412, + -2245.0878451799076, + 21.446016510287457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 440.7134386068945, + -2243.5878451799076, + 21.446016510287457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 443.3115148182478, + -2242.0878451799076, + 21.446016510287457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 445.90959102960113, + -2240.5878451799076, + 21.446016510287457 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 445.90959102960113, + -2240.5878451799076, + 21.446016510287457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 447.40959102960113, + -2237.9897689685545, + 21.446016510287457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 448.90959102960113, + -2235.3916927572013, + 21.446016510287457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 450.40959102960113, + -2232.793616545848, + 21.446016510287457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 451.90959102960113, + -2230.195540334495, + 21.446016510287457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 453.40959102960113, + -2227.597464123142, + 21.446016510287457 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 453.40959102960113, + -2227.597464123142, + 21.446016510287457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948681 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 453.40959102960113, + -2224.597464123142, + 21.446016510287457 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 453.40959102960113, + -2221.597464123142, + 21.446016510287457 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 453.40959102960113, + -2221.597464123142, + 21.446016510287457 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 453.40959102960113, + -2221.597464123142, + 21.446016510287457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 456.00766724095445, + -2220.097464123142, + 21.446016510287457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 458.60574345230776, + -2218.597464123142, + 21.446016510287457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 461.2038196636611, + -2217.097464123142, + 21.446016510287457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 463.8018958750144, + -2215.597464123142, + 21.446016510287457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 466.3999720863677, + -2214.097464123142, + 21.446016510287457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 468.998048297721, + -2212.597464123142, + 21.446016510287457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 471.59612450907434, + -2211.097464123142, + 21.446016510287457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 474.19420072042766, + -2209.597464123142, + 21.446016510287457 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 476.792276931781, + -2208.097464123142, + 21.446016510287457 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 500.0, + -2184.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-15-49_1662919361/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-15-49_1662919361/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0627962f95fe143ce5b12891410ff58a436a8147 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-15-49_1662919361/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1820.9575783656721, + 2457.9448116931044, + 34.268635401734514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1819.4575783656721, + 2455.3467354817512, + 34.268635401734514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1817.9575783656721, + 2452.748659270398, + 34.268635401734514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1816.4575783656721, + 2450.150583059045, + 34.268635401734514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1814.9575783656721, + 2447.552506847692, + 34.268635401734514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1813.4575783656721, + 2444.9544306363387, + 34.268635401734514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1811.9575783656721, + 2442.3563544249855, + 34.268635401734514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1810.4575783656721, + 2439.7582782136324, + 34.268635401734514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1808.9575783656721, + 2437.160202002279, + 34.268635401734514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1807.4575783656721, + 2434.562125790926, + 34.268635401734514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1805.9575783656721, + 2431.964049579573, + 34.268635401734514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1804.4575783656721, + 2429.36597336822, + 34.268635401734514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1802.9575783656721, + 2426.7678971568666, + 34.268635401734514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1801.4575783656721, + 2424.1698209455135, + 34.268635401734514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1799.9575783656721, + 2421.5717447341603, + 34.268635401734514 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1799.9575783656721, + 2421.5717447341603, + 34.268635401734514 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1797.3595021543188, + 2420.0717447341603, + 34.268635401734514 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1794.7614259429654, + 2418.5717447341603, + 34.268635401734514 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1792.163349731612, + 2417.0717447341603, + 34.268635401734514 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1768.0, + 2384.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-18-18_659347223/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-18-18_659347223/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fdb3be3fbacd6a17077a62b1186411d9dd4fc032 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-18-18_659347223/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4210.595140332177, + 1785.4481999197376, + 34.001667824754115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4210.595140332177, + 1782.4481999197376, + 34.001667824754115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4210.595140332177, + 1779.4481999197376, + 34.001667824754115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4210.595140332177, + 1776.4481999197376, + 34.001667824754115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4210.595140332177, + 1773.4481999197376, + 34.001667824754115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4210.595140332177, + 1770.4481999197376, + 34.001667824754115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4210.595140332177, + 1767.4481999197376, + 34.001667824754115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4210.595140332177, + 1764.4481999197376, + 34.001667824754115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4210.595140332177, + 1761.4481999197376, + 34.001667824754115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4210.595140332177, + 1758.4481999197376, + 34.001667824754115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4210.595140332177, + 1755.4481999197376, + 34.001667824754115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4210.595140332177, + 1752.4481999197376, + 34.001667824754115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4210.595140332177, + 1749.4481999197376, + 34.001667824754115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4210.595140332177, + 1746.4481999197376, + 34.001667824754115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4210.595140332177, + 1743.4481999197376, + 34.001667824754115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4210.595140332177, + 1740.4481999197376, + 34.001667824754115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4210.595140332177, + 1737.4481999197376, + 34.001667824754115 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4210.595140332177, + 1737.4481999197376, + 34.001667824754115 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4210.595140332177, + 1737.4481999197376, + 34.001667824754115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4213.19321654353, + 1735.9481999197376, + 34.001667824754115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4215.791292754883, + 1734.4481999197376, + 34.001667824754115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4218.389368966236, + 1732.9481999197376, + 34.001667824754115 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4218.389368966236, + 1732.9481999197376, + 34.001667824754115 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4219.889368966236, + 1730.3501237083842, + 34.001667824754115 + ], + "type": "stop", + "value": 0, + "yaw": -1.047197551196626 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4228.0, + 1696.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-19-3_46811558/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-19-3_46811558/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..68d58f8c91996470ddec11656ddd848067d45250 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-19-3_46811558/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4825.558050801483, + -415.66502902645794, + 14.811903838939294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4824.058050801483, + -418.26310523781126, + 14.811903838939294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4822.558050801483, + -420.8611814491646, + 14.811903838939294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4821.058050801483, + -423.4592576605179, + 14.811903838939294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4819.558050801483, + -426.0573338718712, + 14.811903838939294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4818.058050801483, + -428.6554100832245, + 14.811903838939294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4816.558050801483, + -431.25348629457784, + 14.811903838939294 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4816.558050801483, + -431.25348629457784, + 14.811903838939294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4816.558050801483, + -434.25348629457784, + 14.811903838939294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4816.558050801483, + -437.25348629457784, + 14.811903838939294 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4816.558050801483, + -437.25348629457784, + 14.811903838939294 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4816.558050801483, + -437.25348629457784, + 14.811903838939294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4813.95997459013, + -438.75348629457784, + 14.811903838939294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4811.3618983787765, + -440.25348629457784, + 14.811903838939294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4808.763822167423, + -441.75348629457784, + 14.811903838939294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4806.16574595607, + -443.25348629457784, + 14.811903838939294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4803.567669744717, + -444.75348629457784, + 14.811903838939294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4800.969593533364, + -446.25348629457784, + 14.811903838939294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4798.371517322011, + -447.75348629457784, + 14.811903838939294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4795.773441110658, + -449.25348629457784, + 14.811903838939294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4793.175364899304, + -450.75348629457784, + 14.811903838939294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4790.577288687951, + -452.25348629457784, + 14.811903838939294 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4790.577288687951, + -452.25348629457784, + 14.811903838939294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4789.077288687951, + -454.85156250593116, + 14.811903838939294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4787.577288687951, + -457.4496387172845, + 14.811903838939294 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4772.0, + -476.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-36-34_2095530607/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-36-34_2095530607/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c50eaa1ca99986c902f3f40f58f5ad90d6d84593 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-36-34_2095530607/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1949.9011707553123, + -769.0149543587685, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1948.4011707553123, + -771.6130305701217, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1946.9011707553123, + -774.2111067814751, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1945.4011707553123, + -776.8091829928285, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1943.9011707553123, + -779.4072592041819, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1942.4011707553123, + -782.0053354155352, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1940.9011707553123, + -784.6034116268886, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1939.4011707553123, + -787.201487838242, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1937.9011707553123, + -789.7995640495953, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1936.4011707553123, + -792.3976402609487, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1934.9011707553123, + -794.9957164723021, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1933.4011707553123, + -797.5937926836555, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1931.9011707553123, + -800.1918688950088, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1930.4011707553123, + -802.7899451063622, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1928.9011707553123, + -805.3880213177156, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1927.4011707553123, + -807.986097529069, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1925.9011707553123, + -810.5841737404223, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1924.4011707553123, + -813.1822499517757, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1922.9011707553123, + -815.7803261631291, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1921.4011707553123, + -818.3784023744824, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1919.9011707553123, + -820.9764785858358, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1918.4011707553123, + -823.5745547971892, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1916.9011707553123, + -826.1726310085426, + 31.953669168468434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1915.4011707553123, + -828.7707072198959, + 31.953669168468434 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1908.0, + -848.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-39-0_175821956/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-39-0_175821956/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e09d8ab907e30a9626d7e5e2e0600c1193e99a7b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-39-0_175821956/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 435.3486665471466, + -1474.9629322389699, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 438.3486665471466, + -1474.9629322389699, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 441.3486665471466, + -1474.9629322389699, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 444.3486665471466, + -1474.9629322389699, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 447.3486665471466, + -1474.9629322389699, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 450.3486665471466, + -1474.9629322389699, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 453.3486665471466, + -1474.9629322389699, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 456.3486665471466, + -1474.9629322389699, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 459.3486665471466, + -1474.9629322389699, + 18.028686576817293 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 459.3486665471466, + -1474.9629322389699, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 461.9467427584999, + -1473.4629322389699, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 464.5448189698532, + -1471.9629322389699, + 18.028686576817293 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 464.5448189698532, + -1471.9629322389699, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 467.5448189698532, + -1471.9629322389699, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 470.5448189698532, + -1471.9629322389699, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 473.5448189698532, + -1471.9629322389699, + 18.028686576817293 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 473.5448189698532, + -1471.9629322389699, + 18.028686576817293 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 473.5448189698532, + -1471.9629322389699, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 475.0448189698532, + -1474.5610084503232, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 476.5448189698532, + -1477.1590846616766, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 478.0448189698532, + -1479.75716087303, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 479.5448189698532, + -1482.3552370843834, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 481.0448189698532, + -1484.9533132957367, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 482.5448189698532, + -1487.55138950709, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 484.0448189698532, + -1490.1494657184435, + 18.028686576817293 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 484.0448189698532, + -1490.1494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 486.64289518120654, + -1491.6494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 489.24097139255986, + -1493.1494657184435, + 18.028686576817293 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 489.24097139255986, + -1493.1494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 492.24097139255986, + -1493.1494657184435, + 18.028686576817293 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 492.24097139255986, + -1493.1494657184435, + 18.028686576817293 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 492.24097139255986, + -1493.1494657184435, + 18.028686576817293 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 492.24097139255986, + -1493.1494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 492.24097139255986, + -1496.1494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 492.24097139255986, + -1499.1494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 492.24097139255986, + -1502.1494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 492.24097139255986, + -1505.1494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 492.24097139255986, + -1508.1494657184435, + 18.028686576817293 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 492.24097139255986, + -1508.1494657184435, + 18.028686576817293 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 492.24097139255986, + -1508.1494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 489.64289518120654, + -1509.6494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 487.0448189698532, + -1511.1494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 484.4467427584999, + -1512.6494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 481.8486665471466, + -1514.1494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 479.2505903357933, + -1515.6494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 476.65251412443996, + -1517.1494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 474.05443791308664, + -1518.6494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 471.45636170173333, + -1520.1494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 468.85828549038, + -1521.6494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 466.2602092790267, + -1523.1494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 463.6621330676734, + -1524.6494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 461.06405685632006, + -1526.1494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 458.46598064496675, + -1527.6494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 455.86790443361343, + -1529.1494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 453.2698282222601, + -1530.6494657184435, + 18.028686576817293 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 453.2698282222601, + -1530.6494657184435, + 18.028686576817293 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 453.2698282222601, + -1530.6494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 453.2698282222601, + -1533.6494657184435, + 18.028686576817293 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 453.2698282222601, + -1536.6494657184435, + 18.028686576817293 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 456.0, + -1556.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-47-25_1725868784/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-47-25_1725868784/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f3ee10ba8a0f4d106cc592ec5c2f0eb4e577285 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-47-25_1725868784/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2603.928167996446, + 2329.1276858421343, + 16.339705607272215 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2605.428167996446, + 2331.7257620534874, + 16.339705607272215 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2606.928167996446, + 2334.3238382648406, + 16.339705607272215 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2608.428167996446, + 2336.9219144761937, + 16.339705607272215 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2609.928167996446, + 2339.519990687547, + 16.339705607272215 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2611.428167996446, + 2342.1180668989, + 16.339705607272215 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2612.928167996446, + 2344.716143110253, + 16.339705607272215 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2614.428167996446, + 2347.3142193216063, + 16.339705607272215 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2614.428167996446, + 2347.3142193216063, + 16.339705607272215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982706 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2617.026244207799, + 2348.8142193216063, + 16.339705607272215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2619.6243204191524, + 2350.3142193216063, + 16.339705607272215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2622.2223966305055, + 2351.8142193216063, + 16.339705607272215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2624.8204728418586, + 2353.3142193216063, + 16.339705607272215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2627.418549053212, + 2354.8142193216063, + 16.339705607272215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2630.016625264565, + 2356.3142193216063, + 16.339705607272215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2632.614701475918, + 2357.8142193216063, + 16.339705607272215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2635.2127776872712, + 2359.3142193216063, + 16.339705607272215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2637.8108538986244, + 2360.8142193216063, + 16.339705607272215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2640.4089301099775, + 2362.3142193216063, + 16.339705607272215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2643.0070063213307, + 2363.8142193216063, + 16.339705607272215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2645.605082532684, + 2365.3142193216063, + 16.339705607272215 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2680.0, + 2392.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-48-27_1391607779/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-48-27_1391607779/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e440069ef19e2c290fe8a593035e5f1b7f929b7 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-48-27_1391607779/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 675.6532727157086, + 0.7464175322747622, + 20.6155874146313 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 675.6532727157086, + -2.253582467725238, + 20.6155874146313 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 675.6532727157086, + -5.253582467725238, + 20.6155874146313 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 675.6532727157086, + -8.253582467725238, + 20.6155874146313 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 675.6532727157086, + -11.253582467725238, + 20.6155874146313 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 675.6532727157086, + -14.253582467725238, + 20.6155874146313 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 675.6532727157086, + -17.253582467725238, + 20.6155874146313 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 675.6532727157086, + -20.253582467725238, + 20.6155874146313 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 675.6532727157086, + -23.253582467725238, + 20.6155874146313 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 675.6532727157086, + -26.253582467725238, + 20.6155874146313 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 675.6532727157086, + -29.253582467725238, + 20.6155874146313 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 675.6532727157086, + -32.25358246772524, + 20.6155874146313 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 675.6532727157086, + -35.25358246772524, + 20.6155874146313 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 675.6532727157086, + -35.25358246772524, + 20.6155874146313 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 674.1532727157086, + -37.851658679078554, + 20.6155874146313 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 672.6532727157086, + -40.44973489043187, + 20.6155874146313 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 671.1532727157086, + -43.047811101785186, + 20.6155874146313 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 669.6532727157086, + -45.6458873131385, + 20.6155874146313 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 668.1532727157086, + -48.24396352449182, + 20.6155874146313 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 666.6532727157086, + -50.842039735845134, + 20.6155874146313 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 660.0, + -92.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-58-17_1076270887/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-58-17_1076270887/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eab7ca514acbd76d51b8ce41c4d9a2886377504c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-58-17_1076270887/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1614.418024870754, + 2207.619635207801, + 33.0988517983134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1617.418024870754, + 2207.619635207801, + 33.0988517983134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1620.418024870754, + 2207.619635207801, + 33.0988517983134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1623.418024870754, + 2207.619635207801, + 33.0988517983134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1626.418024870754, + 2207.619635207801, + 33.0988517983134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1629.418024870754, + 2207.619635207801, + 33.0988517983134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1632.418024870754, + 2207.619635207801, + 33.0988517983134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1635.418024870754, + 2207.619635207801, + 33.0988517983134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1638.418024870754, + 2207.619635207801, + 33.0988517983134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1641.418024870754, + 2207.619635207801, + 33.0988517983134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1644.418024870754, + 2207.619635207801, + 33.0988517983134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1647.418024870754, + 2207.619635207801, + 33.0988517983134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1650.418024870754, + 2207.619635207801, + 33.0988517983134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1653.418024870754, + 2207.619635207801, + 33.0988517983134 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1676.0, + 2204.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-9-52_1937495191/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-9-52_1937495191/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0528dba2d9e60c9e2b01ba0d438d3c359be3e789 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_3-9-52_1937495191/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 500.56761364393265, + 799.374540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 497.56761364393265, + 799.374540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 494.56761364393265, + 799.374540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 491.56761364393265, + 799.374540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 488.56761364393265, + 799.374540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 485.56761364393265, + 799.374540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 482.56761364393265, + 799.374540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 479.56761364393265, + 799.374540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 476.56761364393265, + 799.374540652721, + 23.029945300918207 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 476.56761364393265, + 799.374540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 473.96953743257933, + 800.874540652721, + 23.029945300918207 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 473.96953743257933, + 800.874540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 470.96953743257933, + 800.874540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 467.96953743257933, + 800.874540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 464.96953743257933, + 800.874540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 461.96953743257933, + 800.874540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 458.96953743257933, + 800.874540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 455.96953743257933, + 800.874540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 452.96953743257933, + 800.874540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 449.96953743257933, + 800.874540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 446.96953743257933, + 800.874540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 443.96953743257933, + 800.874540652721, + 23.029945300918207 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 443.96953743257933, + 800.874540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 441.371461221226, + 799.374540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 438.7733850098727, + 797.874540652721, + 23.029945300918207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 436.1753087985194, + 796.374540652721, + 23.029945300918207 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 408.0, + 796.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_4-0-17_2036267705/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_4-0-17_2036267705/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bdf07410fb47b444407585c112744dfc5267af26 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_4-0-17_2036267705/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 635.8565379589614, + 438.26950701334255, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 633.2584617476082, + 436.76950701334255, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 630.6603855362548, + 435.26950701334255, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 628.0623093249014, + 433.76950701334255, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 625.4642331135481, + 432.26950701334255, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 622.8661569021947, + 430.76950701334255, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 620.2680806908413, + 429.26950701334255, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 617.6700044794879, + 427.76950701334255, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 615.0719282681346, + 426.26950701334255, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 612.4738520567812, + 424.76950701334255, + 20.430522234931438 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 612.4738520567812, + 424.76950701334255, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 609.4738520567812, + 424.76950701334255, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 606.4738520567812, + 424.76950701334255, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 603.4738520567812, + 424.76950701334255, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 600.4738520567812, + 424.76950701334255, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 597.4738520567812, + 424.76950701334255, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 594.4738520567812, + 424.76950701334255, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 591.4738520567812, + 424.76950701334255, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 588.4738520567812, + 424.76950701334255, + 20.430522234931438 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 588.4738520567812, + 424.76950701334255, + 20.430522234931438 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 588.4738520567812, + 424.76950701334255, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 586.9738520567812, + 427.36758322469586, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 585.4738520567812, + 429.9656594360492, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 583.9738520567812, + 432.5637356474025, + 20.430522234931438 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 583.9738520567812, + 432.5637356474025, + 20.430522234931438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 581.3757758454278, + 434.0637356474025, + 20.430522234931438 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 544.0, + 432.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_4-0-1_181010038/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_4-0-1_181010038/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d5dd2a37fe1dd871d831869b7fd5694d4888b860 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_4-0-1_181010038/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2742.338487504951, + -1780.257118212599, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2743.838487504951, + -1782.8551944239523, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2745.338487504951, + -1785.4532706353057, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2746.838487504951, + -1788.051346846659, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2748.338487504951, + -1790.6494230580124, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2749.838487504951, + -1793.2474992693658, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2751.338487504951, + -1795.8455754807192, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2752.838487504951, + -1798.4436516920725, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2754.338487504951, + -1801.041727903426, + 32.81794695004087 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2754.338487504951, + -1801.041727903426, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2756.936563716304, + -1802.541727903426, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2759.5346399276573, + -1804.041727903426, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2762.1327161390104, + -1805.541727903426, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2764.7307923503636, + -1807.041727903426, + 32.81794695004087 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2764.7307923503636, + -1807.041727903426, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2766.2307923503636, + -1809.6398041147793, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2767.7307923503636, + -1812.2378803261327, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2769.2307923503636, + -1814.835956537486, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2770.7307923503636, + -1817.4340327488394, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2772.2307923503636, + -1820.0321089601928, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2773.7307923503636, + -1822.6301851715461, + 32.81794695004087 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2773.7307923503636, + -1822.6301851715461, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2773.7307923503636, + -1825.6301851715461, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2773.7307923503636, + -1828.6301851715461, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2773.7307923503636, + -1831.6301851715461, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2773.7307923503636, + -1834.6301851715461, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2773.7307923503636, + -1837.6301851715461, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2773.7307923503636, + -1840.6301851715461, + 32.81794695004087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2773.7307923503636, + -1843.6301851715461, + 32.81794695004087 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2780.0, + -1860.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/low_short/2025-1-2_4-6-25_959200313/pose.jsonl b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_4-6-25_959200313/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de2fe811bc065ee30f374165189df0c4f46637c4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/low_short/2025-1-2_4-6-25_959200313/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3299.1600420468326, + 476.83620911610086, + 25.516473836290068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3300.6600420468326, + 479.4342853274542, + 25.516473836290068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3302.1600420468326, + 482.0323615388075, + 25.516473836290068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3303.6600420468326, + 484.6304377501608, + 25.516473836290068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3305.1600420468326, + 487.2285139615141, + 25.516473836290068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3306.6600420468326, + 489.82659017286744, + 25.516473836290068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3308.1600420468326, + 492.42466638422076, + 25.516473836290068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3309.6600420468326, + 495.0227425955741, + 25.516473836290068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3311.1600420468326, + 497.6208188069274, + 25.516473836290068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3312.6600420468326, + 500.2188950182807, + 25.516473836290068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3314.1600420468326, + 502.816971229634, + 25.516473836290068 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3332.0, + 532.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-42-36_1022988865/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-42-36_1022988865/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2eaf9bc66d752436144fcf89c226a0f2645a75ed --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-42-36_1022988865/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1330.740533974349, + -252.8637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1327.740533974349, + -252.8637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1324.740533974349, + -252.8637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1321.740533974349, + -252.8637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1318.740533974349, + -252.8637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1315.740533974349, + -252.8637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1312.740533974349, + -252.8637258287196, + 60.528392930489545 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1312.740533974349, + -252.8637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1310.1424577629957, + -251.3637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1307.5443815516423, + -249.8637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1304.946305340289, + -248.3637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1302.3482291289356, + -246.8637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1299.7501529175822, + -245.3637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1297.1520767062289, + -243.8637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1294.5540004948755, + -242.3637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1291.955924283522, + -240.8637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1289.3578480721687, + -239.3637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1286.7597718608154, + -237.8637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1284.161695649462, + -236.3637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1281.5636194381086, + -234.8637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1278.9655432267552, + -233.3637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1276.3674670154019, + -231.8637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1273.7693908040485, + -230.3637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1271.1713145926951, + -228.8637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1268.5732383813418, + -227.3637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1265.9751621699884, + -225.8637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1263.377085958635, + -224.3637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1260.7790097472816, + -222.8637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1258.1809335359283, + -221.3637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1255.582857324575, + -219.8637258287196, + 60.528392930489545 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1255.582857324575, + -219.8637258287196, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1254.082857324575, + -217.26564961736628, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1252.582857324575, + -214.66757340601296, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1251.082857324575, + -212.06949719465965, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1249.582857324575, + -209.47142098330633, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1248.082857324575, + -206.87334477195301, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1246.582857324575, + -204.2752685605997, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1245.082857324575, + -201.67719234924638, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1243.582857324575, + -199.07911613789307, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1242.082857324575, + -196.48103992653975, + 60.528392930489545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1240.582857324575, + -193.88296371518643, + 60.528392930489545 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1208.0, + -176.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-47-51_674426555/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-47-51_674426555/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7cb8669f17232955df5b79de5766471debf18012 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-47-51_674426555/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4396.783152394476, + -2372.543294667191, + 57.85597160958858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4399.783152394476, + -2372.543294667191, + 57.85597160958858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4402.783152394476, + -2372.543294667191, + 57.85597160958858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4405.783152394476, + -2372.543294667191, + 57.85597160958858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4408.783152394476, + -2372.543294667191, + 57.85597160958858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4411.783152394476, + -2372.543294667191, + 57.85597160958858 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4414.783152394476, + -2372.543294667191, + 57.85597160958858 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4414.783152394476, + -2372.543294667191, + 57.85597160958858 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4414.783152394476, + -2372.543294667191, + 57.85597160958858 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4416.283152394476, + -2369.9452184558377, + 57.85597160958858 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4417.783152394476, + -2367.3471422444845, + 57.85597160958858 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4419.283152394476, + -2364.7490660331314, + 57.85597160958858 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4420.783152394476, + -2362.1509898217782, + 57.85597160958858 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4422.283152394476, + -2359.552913610425, + 57.85597160958858 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4423.783152394476, + -2356.954837399072, + 57.85597160958858 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4488.0, + -2324.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-48-24_1451163042/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-48-24_1451163042/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f277b9a804d4796d92619e1aeac1bce0bf81aec --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-48-24_1451163042/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -722.3982545516847, + 1980.7286177907388, + 42.18440863754153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -724.996330763038, + 1982.2286177907388, + 42.18440863754153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -727.5944069743914, + 1983.7286177907388, + 42.18440863754153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -730.1924831857448, + 1985.2286177907388, + 42.18440863754153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -732.7905593970981, + 1986.7286177907388, + 42.18440863754153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -735.3886356084515, + 1988.2286177907388, + 42.18440863754153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -737.9867118198049, + 1989.7286177907388, + 42.18440863754153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -740.5847880311583, + 1991.2286177907388, + 42.18440863754153 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -740.5847880311583, + 1991.2286177907388, + 42.18440863754153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -742.0847880311583, + 1993.8266940020922, + 42.18440863754153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -743.5847880311583, + 1996.4247702134455, + 42.18440863754153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -745.0847880311583, + 1999.022846424799, + 42.18440863754153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -746.5847880311583, + 2001.6209226361523, + 42.18440863754153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -748.0847880311583, + 2004.2189988475056, + 42.18440863754153 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -748.0847880311583, + 2004.2189988475056, + 42.18440863754153 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -750.6828642425116, + 2005.7189988475056, + 42.18440863754153 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -820.0, + 2060.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-49-23_2052861120/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-49-23_2052861120/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d934be93f6d97df3842a7e8c0ebe0899cb009dd9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-49-23_2052861120/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1985.0203648487209, + -162.03383593961996, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1988.0203648487209, + -162.03383593961996, + 44.079737835095955 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1988.0203648487209, + -162.03383593961996, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1990.6184410600742, + -160.53383593961996, + 44.079737835095955 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1990.6184410600742, + -160.53383593961996, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1993.6184410600742, + -160.53383593961996, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1996.6184410600742, + -160.53383593961996, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1999.6184410600742, + -160.53383593961996, + 44.079737835095955 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1999.6184410600742, + -160.53383593961996, + 44.079737835095955 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1999.6184410600742, + -160.53383593961996, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2001.1184410600742, + -163.13191215097328, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2002.6184410600742, + -165.7299883623266, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2004.1184410600742, + -168.3280645736799, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2005.6184410600742, + -170.92614078503323, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2007.1184410600742, + -173.52421699638654, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2008.6184410600742, + -176.12229320773986, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2010.1184410600742, + -178.72036941909317, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2011.6184410600742, + -181.3184456304465, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2013.1184410600742, + -183.9165218417998, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2014.6184410600742, + -186.51459805315312, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2016.1184410600742, + -189.11267426450644, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2017.6184410600742, + -191.71075047585975, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2019.1184410600742, + -194.30882668721307, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2020.6184410600742, + -196.9069028985664, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2022.1184410600742, + -199.5049791099197, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2023.6184410600742, + -202.10305532127302, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2025.1184410600742, + -204.70113153262633, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2026.6184410600742, + -207.29920774397965, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2028.1184410600742, + -209.89728395533297, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2029.6184410600742, + -212.49536016668628, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2031.1184410600742, + -215.0934363780396, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2032.6184410600742, + -217.69151258939291, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2034.1184410600742, + -220.28958880074623, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2035.6184410600742, + -222.88766501209955, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2037.1184410600742, + -225.48574122345286, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2038.6184410600742, + -228.08381743480618, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2040.1184410600742, + -230.6818936461595, + 44.079737835095955 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2040.1184410600742, + -230.6818936461595, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2040.1184410600742, + -233.6818936461595, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2040.1184410600742, + -236.6818936461595, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2040.1184410600742, + -239.6818936461595, + 44.079737835095955 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2040.1184410600742, + -242.6818936461595, + 44.079737835095955 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2048.0, + -256.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-50-40_1429841549/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-50-40_1429841549/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e940357c00f60ea10a72c2afa8b9181f273f643c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-50-40_1429841549/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 260.69147083465435, + -1511.2063383993418, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 259.19147083465435, + -1513.8044146106952, + 67.30962226427512 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 259.19147083465435, + -1513.8044146106952, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 256.59339462330104, + -1515.3044146106952, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 253.99531841194772, + -1516.8044146106952, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 251.3972422005944, + -1518.3044146106952, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 248.7991659892411, + -1519.8044146106952, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 246.20108977788777, + -1521.3044146106952, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 243.60301356653446, + -1522.8044146106952, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 241.00493735518114, + -1524.3044146106952, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 238.40686114382783, + -1525.8044146106952, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 235.8087849324745, + -1527.3044146106952, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 233.2107087211212, + -1528.8044146106952, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 230.61263250976788, + -1530.3044146106952, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 228.01455629841456, + -1531.8044146106952, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 225.41648008706125, + -1533.3044146106952, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 222.81840387570793, + -1534.8044146106952, + 67.30962226427512 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 222.81840387570793, + -1534.8044146106952, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 221.31840387570793, + -1537.4024908220485, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 219.81840387570793, + -1540.000567033402, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 218.31840387570793, + -1542.5986432447553, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 216.81840387570793, + -1545.1967194561087, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 215.31840387570793, + -1547.794795667462, + 67.30962226427512 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 215.31840387570793, + -1547.794795667462, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 215.31840387570793, + -1550.794795667462, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 215.31840387570793, + -1553.794795667462, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 215.31840387570793, + -1556.794795667462, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 215.31840387570793, + -1559.794795667462, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 215.31840387570793, + -1562.794795667462, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 215.31840387570793, + -1565.794795667462, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 215.31840387570793, + -1568.794795667462, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 215.31840387570793, + -1571.794795667462, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 215.31840387570793, + -1574.794795667462, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 215.31840387570793, + -1577.794795667462, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 215.31840387570793, + -1580.794795667462, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 215.31840387570793, + -1583.794795667462, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 215.31840387570793, + -1586.794795667462, + 67.30962226427512 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 215.31840387570793, + -1586.794795667462, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 216.81840387570793, + -1589.3928718788154, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 218.31840387570793, + -1591.9909480901688, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 219.81840387570793, + -1594.5890243015222, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 221.31840387570793, + -1597.1871005128755, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 222.81840387570793, + -1599.785176724229, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 224.31840387570793, + -1602.3832529355823, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 225.81840387570793, + -1604.9813291469356, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 227.31840387570793, + -1607.579405358289, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 228.81840387570793, + -1610.1774815696424, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 230.31840387570793, + -1612.7755577809958, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 231.81840387570793, + -1615.3736339923491, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 233.31840387570793, + -1617.9717102037025, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 234.81840387570793, + -1620.569786415056, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 236.31840387570793, + -1623.1678626264093, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 237.81840387570793, + -1625.7659388377626, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 239.31840387570793, + -1628.364015049116, + 67.30962226427512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 240.81840387570793, + -1630.9620912604694, + 67.30962226427512 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1652.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-50-8_447053428/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-50-8_447053428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..37e1c2e62015fc1105a4d9887f12109b172077fa --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-50-8_447053428/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2374.8964335921055, + 187.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2371.8964335921055, + 187.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2368.8964335921055, + 187.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2365.8964335921055, + 187.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2362.8964335921055, + 187.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2359.8964335921055, + 187.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2356.8964335921055, + 187.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2353.8964335921055, + 187.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2350.8964335921055, + 187.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2347.8964335921055, + 187.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2344.8964335921055, + 187.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2341.8964335921055, + 187.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2338.8964335921055, + 187.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2335.8964335921055, + 187.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2332.8964335921055, + 187.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2329.8964335921055, + 187.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2326.8964335921055, + 187.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2323.8964335921055, + 187.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2320.8964335921055, + 187.8548842662546, + 53.387881913225854 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2320.8964335921055, + 187.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2318.2983573807523, + 189.3548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2315.700281169399, + 190.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2313.102204958046, + 192.3548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2310.504128746693, + 193.8548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2307.9060525353398, + 195.3548842662546, + 53.387881913225854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2305.3079763239866, + 196.8548842662546, + 53.387881913225854 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2240.0, + 208.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-51-9_787660056/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-51-9_787660056/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7aa30f6ee92ba2acd13bc53185c974afcd378fc6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-51-9_787660056/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1955.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1958.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1961.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1964.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1967.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1970.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1973.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1976.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1979.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1982.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1985.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1988.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1991.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1994.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1997.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2000.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2003.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2006.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2009.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2012.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2015.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2018.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2021.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2024.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2027.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2030.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2033.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2036.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2036.4165647105212, + 2395.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2039.0146409218746, + 2396.8906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2041.612717133228, + 2398.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2044.2107933445814, + 2399.8906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2046.8088695559347, + 2401.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2049.406945767288, + 2402.8906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2052.0050219786413, + 2404.3906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2054.6030981899944, + 2405.8906928231495, + 44.555024103730396 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2057.2011744013475, + 2407.3906928231495, + 44.555024103730396 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2100.0, + 2412.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-53-13_919121924/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-53-13_919121924/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e70fd40133b91c36ab5ee6d5851ed4ed063952b5 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-53-13_919121924/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1953.38968747836, + -38.943276443308434, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1951.88968747836, + -41.54135265466175, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1950.38968747836, + -44.139428866015066, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1948.88968747836, + -46.73750507736838, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1947.38968747836, + -49.3355812887217, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1945.88968747836, + -51.933657500075014, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1944.38968747836, + -54.53173371142833, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1942.88968747836, + -57.12980992278165, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1941.38968747836, + -59.72788613413496, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1939.88968747836, + -62.32596234548828, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1938.38968747836, + -64.9240385568416, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1936.88968747836, + -67.52211476819491, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1935.38968747836, + -70.12019097954823, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1933.88968747836, + -72.71826719090154, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1932.38968747836, + -75.31634340225486, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1930.88968747836, + -77.91441961360817, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1929.38968747836, + -80.51249582496149, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1927.88968747836, + -83.1105720363148, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1926.38968747836, + -85.70864824766812, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1924.88968747836, + -88.30672445902144, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1923.38968747836, + -90.90480067037475, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1921.88968747836, + -93.50287688172807, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1920.38968747836, + -96.10095309308139, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1918.88968747836, + -98.6990293044347, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1917.38968747836, + -101.29710551578802, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1915.88968747836, + -103.89518172714133, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1914.38968747836, + -106.49325793849465, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1912.88968747836, + -109.09133414984797, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1911.38968747836, + -111.68941036120128, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1909.88968747836, + -114.2874865725546, + 46.9759877431085 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1909.88968747836, + -114.2874865725546, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1907.2916112670066, + -115.7874865725546, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1904.6935350556532, + -117.2874865725546, + 46.9759877431085 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1904.6935350556532, + -117.2874865725546, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1903.1935350556532, + -119.88556278390791, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1901.6935350556532, + -122.48363899526123, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1900.1935350556532, + -125.08171520661455, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1898.6935350556532, + -127.67979141796786, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1897.1935350556532, + -130.27786762932118, + 46.9759877431085 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1897.1935350556532, + -130.27786762932118, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1897.1935350556532, + -133.27786762932118, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1897.1935350556532, + -136.27786762932118, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1897.1935350556532, + -139.27786762932118, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1897.1935350556532, + -142.27786762932118, + 46.9759877431085 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1897.1935350556532, + -142.27786762932118, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1898.6935350556532, + -144.8759438406745, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1900.1935350556532, + -147.4740200520278, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1901.6935350556532, + -150.07209626338113, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1903.1935350556532, + -152.67017247473444, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1904.6935350556532, + -155.26824868608776, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1906.1935350556532, + -157.86632489744107, + 46.9759877431085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1907.6935350556532, + -160.4644011087944, + 46.9759877431085 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1904.0, + -180.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-54-49_639138264/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-54-49_639138264/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53dcbe2b052170e6d43ce8aa050feeff69f9f647 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-54-49_639138264/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 156.94304723310674, + -1797.3945510825997, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 155.44304723310674, + -1799.992627293953, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 153.94304723310674, + -1802.5907035053065, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 152.44304723310674, + -1805.1887797166598, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 150.94304723310674, + -1807.7868559280132, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 149.44304723310674, + -1810.3849321393666, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 147.94304723310674, + -1812.98300835072, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 146.44304723310674, + -1815.5810845620733, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 144.94304723310674, + -1818.1791607734267, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 143.44304723310674, + -1820.77723698478, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 141.94304723310674, + -1823.3753131961334, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 140.44304723310674, + -1825.9733894074868, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 138.94304723310674, + -1828.5714656188402, + 55.27847236873119 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 138.94304723310674, + -1828.5714656188402, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 138.94304723310674, + -1831.5714656188402, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 138.94304723310674, + -1834.5714656188402, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 138.94304723310674, + -1837.5714656188402, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 138.94304723310674, + -1840.5714656188402, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 138.94304723310674, + -1843.5714656188402, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 138.94304723310674, + -1846.5714656188402, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 138.94304723310674, + -1849.5714656188402, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 138.94304723310674, + -1852.5714656188402, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 138.94304723310674, + -1855.5714656188402, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 138.94304723310674, + -1858.5714656188402, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 138.94304723310674, + -1861.5714656188402, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 138.94304723310674, + -1864.5714656188402, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 138.94304723310674, + -1867.5714656188402, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 138.94304723310674, + -1870.5714656188402, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 138.94304723310674, + -1873.5714656188402, + 55.27847236873119 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 138.94304723310674, + -1873.5714656188402, + 55.27847236873119 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 138.94304723310674, + -1873.5714656188402, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 136.34497102175342, + -1875.0714656188402, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 133.7468948104001, + -1876.5714656188402, + 55.27847236873119 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 133.7468948104001, + -1876.5714656188402, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 132.2468948104001, + -1879.1695418301936, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 130.7468948104001, + -1881.767618041547, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 129.2468948104001, + -1884.3656942529003, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 127.74689481040011, + -1886.9637704642537, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 126.24689481040011, + -1889.561846675607, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 124.74689481040011, + -1892.1599228869604, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 123.24689481040011, + -1894.7579990983138, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 121.74689481040011, + -1897.3560753096672, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 120.24689481040011, + -1899.9541515210205, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 118.74689481040011, + -1902.552227732374, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 117.24689481040011, + -1905.1503039437273, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 115.74689481040011, + -1907.7483801550807, + 55.27847236873119 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 115.74689481040011, + -1907.7483801550807, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 115.74689481040011, + -1910.7483801550807, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 115.74689481040011, + -1913.7483801550807, + 55.27847236873119 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 115.74689481040011, + -1916.7483801550807, + 55.27847236873119 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.0, + -1932.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-55-15_1415431554/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-55-15_1415431554/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5edfa2d074c1a92baeb01d2fabba8936b24c67b6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-55-15_1415431554/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1499.4630524319803, + 2090.776444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1502.0611286433336, + 2092.276444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1504.659204854687, + 2093.776444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1507.2572810660404, + 2095.276444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1509.8553572773938, + 2096.776444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1512.4534334887471, + 2098.276444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1515.0515097001005, + 2099.776444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1517.6495859114539, + 2101.276444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1520.2476621228072, + 2102.776444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1522.8457383341606, + 2104.276444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1525.443814545514, + 2105.776444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1528.0418907568674, + 2107.276444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1530.6399669682207, + 2108.776444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1533.238043179574, + 2110.276444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1535.8361193909275, + 2111.776444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1538.4341956022809, + 2113.276444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1541.0322718136342, + 2114.776444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1543.6303480249876, + 2116.276444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1546.228424236341, + 2117.776444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1548.8265004476943, + 2119.276444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1551.4245766590477, + 2120.776444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1554.022652870401, + 2122.276444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1556.6207290817545, + 2123.776444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1559.2188052931078, + 2125.276444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1561.8168815044612, + 2126.776444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1564.4149577158146, + 2128.276444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1567.013033927168, + 2129.776444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1569.6111101385213, + 2131.276444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1572.2091863498747, + 2132.776444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1574.807262561228, + 2134.276444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1577.4053387725814, + 2135.776444875488, + 56.07705243751881 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1577.4053387725814, + 2135.776444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1580.4053387725814, + 2135.776444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1583.4053387725814, + 2135.776444875488, + 56.07705243751881 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1586.4053387725814, + 2135.776444875488, + 56.07705243751881 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1612.0, + 2148.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-56-14_78359216/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-56-14_78359216/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd024b4715304e612877b76516139e1e3d4bc816 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-56-14_78359216/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1563.5276477583645, + 368.3671248067293, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1565.0276477583645, + 370.9652010180826, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1566.5276477583645, + 373.5632772294359, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1568.0276477583645, + 376.16135344078924, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1569.5276477583645, + 378.75942965214256, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1571.0276477583645, + 381.3575058634959, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1572.5276477583645, + 383.9555820748492, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1574.0276477583645, + 386.5536582862025, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1575.5276477583645, + 389.1517344975558, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1577.0276477583645, + 391.74981070890914, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1578.5276477583645, + 394.34788692026245, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1580.0276477583645, + 396.94596313161577, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1581.5276477583645, + 399.5440393429691, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1583.0276477583645, + 402.1421155543224, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1584.5276477583645, + 404.7401917656757, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1586.0276477583645, + 407.33826797702903, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1587.5276477583645, + 409.93634418838235, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1589.0276477583645, + 412.53442039973567, + 69.4004694064341 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1589.0276477583645, + 412.53442039973567, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1589.0276477583645, + 415.53442039973567, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1589.0276477583645, + 418.53442039973567, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1589.0276477583645, + 421.53442039973567, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1589.0276477583645, + 424.53442039973567, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1589.0276477583645, + 427.53442039973567, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1589.0276477583645, + 430.53442039973567, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1589.0276477583645, + 433.53442039973567, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1589.0276477583645, + 436.53442039973567, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1589.0276477583645, + 439.53442039973567, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1589.0276477583645, + 442.53442039973567, + 69.4004694064341 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1589.0276477583645, + 445.53442039973567, + 69.4004694064341 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1600.0, + 480.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-57-25_1423524763/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-57-25_1423524763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b2fc1de9ba1ace6c47cccc1f28dead02ff89dbe --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-57-25_1423524763/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1078.1804557898893, + -552.8610098857408, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1076.6804557898893, + -550.2629336743876, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1075.1804557898893, + -547.6648574630342, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1073.6804557898893, + -545.0667812516808, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1072.1804557898893, + -542.4687050403274, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1070.6804557898893, + -539.8706288289741, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1069.1804557898893, + -537.2725526176207, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1067.6804557898893, + -534.6744764062673, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1066.1804557898893, + -532.076400194914, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1064.6804557898893, + -529.4783239835606, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1063.1804557898893, + -526.8802477722072, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1061.6804557898893, + -524.2821715608538, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1060.1804557898893, + -521.6840953495005, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1058.6804557898893, + -519.0860191381471, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1057.1804557898893, + -516.4879429267937, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1055.6804557898893, + -513.8898667154403, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1054.1804557898893, + -511.29179050408703, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1052.6804557898893, + -508.6937142927337, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1051.1804557898893, + -506.0956380813804, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1049.6804557898893, + -503.4975618700271, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1048.1804557898893, + -500.89948565867377, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1046.6804557898893, + -498.30140944732045, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1045.1804557898893, + -495.70333323596714, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1043.6804557898893, + -493.1052570246138, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1042.1804557898893, + -490.5071808132605, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1040.6804557898893, + -487.9091046019072, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1039.1804557898893, + -485.3110283905539, + 49.11133563162614 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1039.1804557898893, + -485.3110283905539, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1036.582379578536, + -483.8110283905539, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1033.9843033671825, + -482.3110283905539, + 49.11133563162614 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1031.3862271558291, + -480.8110283905539, + 49.11133563162614 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1016.0, + -460.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-57-44_1303785506/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-57-44_1303785506/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec0ab6873b3a48340b53236e0f7094ba99aa283b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-57-44_1303785506/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3349.9512844163073, + -959.7661799993981, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3351.4512844163073, + -957.1681037880448, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3352.9512844163073, + -954.5700275766915, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3354.4512844163073, + -951.9719513653381, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3355.9512844163073, + -949.3738751539847, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3357.4512844163073, + -946.7757989426314, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3358.9512844163073, + -944.177722731278, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3360.4512844163073, + -941.5796465199246, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3361.9512844163073, + -938.9815703085712, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3363.4512844163073, + -936.3834940972179, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3364.9512844163073, + -933.7854178858645, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3366.4512844163073, + -931.1873416745111, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3367.9512844163073, + -928.5892654631577, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3369.4512844163073, + -925.9911892518044, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3370.9512844163073, + -923.393113040451, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3372.4512844163073, + -920.7950368290976, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3373.9512844163073, + -918.1969606177443, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3375.4512844163073, + -915.5988844063909, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3376.9512844163073, + -913.0008081950375, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3378.4512844163073, + -910.4027319836841, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3379.9512844163073, + -907.8046557723308, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3381.4512844163073, + -905.2065795609774, + 53.4413062998611 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3381.4512844163073, + -905.2065795609774, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3384.0493606276605, + -903.7065795609774, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3386.6474368390136, + -902.2065795609774, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3389.2455130503668, + -900.7065795609774, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3391.84358926172, + -899.2065795609774, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3394.441665473073, + -897.7065795609774, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3397.039741684426, + -896.2065795609774, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3399.6378178957793, + -894.7065795609774, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3402.2358941071325, + -893.2065795609774, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3404.8339703184856, + -891.7065795609774, + 53.4413062998611 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3407.4320465298388, + -890.2065795609774, + 53.4413062998611 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3428.0, + -864.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-6-52_1026253510/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-6-52_1026253510/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb069fb522399da436c774c7058ea77b2abb9755 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-6-52_1026253510/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 252.64450844865797, + 2426.802805960861, + 68.42959375224697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 255.64450844865797, + 2426.802805960861, + 68.42959375224697 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 255.64450844865797, + 2426.802805960861, + 68.42959375224697 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 255.64450844865797, + 2426.802805960861, + 68.42959375224697 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 257.144508448658, + 2429.400882172214, + 68.42959375224697 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 258.644508448658, + 2431.9989583835672, + 68.42959375224697 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 260.144508448658, + 2434.5970345949204, + 68.42959375224697 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 261.644508448658, + 2437.1951108062735, + 68.42959375224697 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 263.144508448658, + 2439.7931870176267, + 68.42959375224697 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 264.644508448658, + 2442.39126322898, + 68.42959375224697 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 266.144508448658, + 2444.989339440333, + 68.42959375224697 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 267.644508448658, + 2447.587415651686, + 68.42959375224697 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 269.144508448658, + 2450.1854918630393, + 68.42959375224697 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 270.644508448658, + 2452.7835680743924, + 68.42959375224697 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 272.144508448658, + 2455.3816442857456, + 68.42959375224697 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 272.144508448658, + 2455.3816442857456, + 68.42959375224697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982706 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 274.7425846600113, + 2456.8816442857456, + 68.42959375224697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 277.3406608713646, + 2458.3816442857456, + 68.42959375224697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 279.9387370827179, + 2459.8816442857456, + 68.42959375224697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 282.53681329407124, + 2461.3816442857456, + 68.42959375224697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 285.13488950542455, + 2462.8816442857456, + 68.42959375224697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 287.73296571677787, + 2464.3816442857456, + 68.42959375224697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 290.3310419281312, + 2465.8816442857456, + 68.42959375224697 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 292.9291181394845, + 2467.3816442857456, + 68.42959375224697 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 356.0, + 2524.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-9-16_1844967250/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-9-16_1844967250/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f088ec4270c62c8c55e98390b0b8df320b2547d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_1-9-16_1844967250/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2164.7879579398395, + -2843.9819988724867, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2163.2879579398395, + -2846.58007508384, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2161.7879579398395, + -2849.178151295193, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2160.2879579398395, + -2851.776227506546, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2158.7879579398395, + -2854.3743037178992, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2157.2879579398395, + -2856.9723799292524, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2155.7879579398395, + -2859.5704561406055, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2154.2879579398395, + -2862.1685323519587, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2152.7879579398395, + -2864.766608563312, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2151.2879579398395, + -2867.364684774665, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2149.7879579398395, + -2869.962760986018, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2148.2879579398395, + -2872.5608371973713, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2146.7879579398395, + -2875.1589134087244, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2145.2879579398395, + -2877.7569896200775, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2143.7879579398395, + -2880.3550658314307, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2142.2879579398395, + -2882.953142042784, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2140.7879579398395, + -2885.551218254137, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2139.2879579398395, + -2888.14929446549, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2137.7879579398395, + -2890.7473706768433, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2136.2879579398395, + -2893.3454468881964, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2134.7879579398395, + -2895.9435230995496, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2133.2879579398395, + -2898.5415993109027, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2131.7879579398395, + -2901.139675522256, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2130.2879579398395, + -2903.737751733609, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2128.7879579398395, + -2906.335827944962, + 54.5013956354512 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2128.7879579398395, + -2906.335827944962, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2126.1898817284864, + -2907.835827944962, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2123.5918055171333, + -2909.335827944962, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2120.99372930578, + -2910.835827944962, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2118.395653094427, + -2912.335827944962, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2115.797576883074, + -2913.835827944962, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2113.1995006717207, + -2915.335827944962, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2110.6014244603675, + -2916.835827944962, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2108.0033482490144, + -2918.335827944962, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2105.4052720376612, + -2919.835827944962, + 54.5013956354512 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2105.4052720376612, + -2919.835827944962, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2103.9052720376612, + -2922.4339041563153, + 54.5013956354512 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2102.4052720376612, + -2925.0319803676684, + 54.5013956354512 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2088.0, + -2944.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-10-19_974255332/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-10-19_974255332/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9055ba38cd3b78385584b859d373cd80327e8468 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-10-19_974255332/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 745.6632153154828, + 2193.74121919848, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 748.6632153154828, + 2193.74121919848, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 751.6632153154828, + 2193.74121919848, + 69.46095579880838 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 751.6632153154828, + 2193.74121919848, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 754.2612915268362, + 2195.24121919848, + 69.46095579880838 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 754.2612915268362, + 2195.24121919848, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 755.7612915268362, + 2197.839295409833, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 757.2612915268362, + 2200.4373716211862, + 69.46095579880838 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 757.2612915268362, + 2200.4373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982706 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 759.8593677381896, + 2201.9373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 762.457443949543, + 2203.4373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 765.0555201608963, + 2204.9373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 767.6535963722497, + 2206.4373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 770.2516725836031, + 2207.9373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 772.8497487949564, + 2209.4373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 775.4478250063098, + 2210.9373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 778.0459012176632, + 2212.4373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 780.6439774290166, + 2213.9373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 783.2420536403699, + 2215.4373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 785.8401298517233, + 2216.9373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 788.4382060630767, + 2218.4373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 791.03628227443, + 2219.9373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 793.6343584857834, + 2221.4373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 796.2324346971368, + 2222.9373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 798.8305109084902, + 2224.4373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 801.4285871198435, + 2225.9373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 804.0266633311969, + 2227.4373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 806.6247395425503, + 2228.9373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 809.2228157539037, + 2230.4373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 811.820891965257, + 2231.9373716211862, + 69.46095579880838 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 814.4189681766104, + 2233.4373716211862, + 69.46095579880838 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 872.0, + 2264.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-11-24_981303315/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-11-24_981303315/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad535a62312b6fb609e2cbfa669a30666bccafbe --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-11-24_981303315/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1639.348292239046, + -2135.7955687372755, + 45.01353277242196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1636.348292239046, + -2135.7955687372755, + 45.01353277242196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1633.348292239046, + -2135.7955687372755, + 45.01353277242196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1630.348292239046, + -2135.7955687372755, + 45.01353277242196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1627.348292239046, + -2135.7955687372755, + 45.01353277242196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1624.348292239046, + -2135.7955687372755, + 45.01353277242196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1621.348292239046, + -2135.7955687372755, + 45.01353277242196 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1621.348292239046, + -2135.7955687372755, + 45.01353277242196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1618.7502160276927, + -2134.2955687372755, + 45.01353277242196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1616.1521398163393, + -2132.7955687372755, + 45.01353277242196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1613.554063604986, + -2131.2955687372755, + 45.01353277242196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1610.9559873936325, + -2129.7955687372755, + 45.01353277242196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1608.3579111822792, + -2128.2955687372755, + 45.01353277242196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1605.7598349709258, + -2126.7955687372755, + 45.01353277242196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1603.1617587595724, + -2125.2955687372755, + 45.01353277242196 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1540.0, + -2112.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-11-36_1043353969/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-11-36_1043353969/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..396d8743e5a013ea07384b35d2d4ff15fcef5d8d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-11-36_1043353969/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1230.7756047723942, + 2202.709813280608, + 44.449816376274185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1230.7756047723942, + 2199.709813280608, + 44.449816376274185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1230.7756047723942, + 2196.709813280608, + 44.449816376274185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1230.7756047723942, + 2193.709813280608, + 44.449816376274185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1230.7756047723942, + 2190.709813280608, + 44.449816376274185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1230.7756047723942, + 2187.709813280608, + 44.449816376274185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1230.7756047723942, + 2184.709813280608, + 44.449816376274185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1230.7756047723942, + 2181.709813280608, + 44.449816376274185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1230.7756047723942, + 2178.709813280608, + 44.449816376274185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1230.7756047723942, + 2175.709813280608, + 44.449816376274185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1230.7756047723942, + 2172.709813280608, + 44.449816376274185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1230.7756047723942, + 2169.709813280608, + 44.449816376274185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1230.7756047723942, + 2166.709813280608, + 44.449816376274185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1230.7756047723942, + 2163.709813280608, + 44.449816376274185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1230.7756047723942, + 2160.709813280608, + 44.449816376274185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1230.7756047723942, + 2157.709813280608, + 44.449816376274185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1230.7756047723942, + 2154.709813280608, + 44.449816376274185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1230.7756047723942, + 2151.709813280608, + 44.449816376274185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1230.7756047723942, + 2148.709813280608, + 44.449816376274185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1230.7756047723942, + 2145.709813280608, + 44.449816376274185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1230.7756047723942, + 2142.709813280608, + 44.449816376274185 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1236.0, + 2060.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-11-50_656635246/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-11-50_656635246/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f741bdc1ba4ca5f8b5212da3b795395bd84bd25 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-11-50_656635246/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1420.3618583460009, + -388.35497737835624, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1418.8618583460009, + -385.7569011670029, + 65.46573359420506 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1418.8618583460009, + -385.7569011670029, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1416.2637821346475, + -384.2569011670029, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1413.6657059232941, + -382.7569011670029, + 65.46573359420506 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1413.6657059232941, + -382.7569011670029, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1412.1657059232941, + -380.1588249556496, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1410.6657059232941, + -377.5607487442963, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1409.1657059232941, + -374.962672532943, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1407.6657059232941, + -372.36459632158966, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1406.1657059232941, + -369.76652011023634, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1404.6657059232941, + -367.168443898883, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1403.1657059232941, + -364.5703676875297, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1401.6657059232941, + -361.9722914761764, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1400.1657059232941, + -359.3742152648231, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1398.6657059232941, + -356.77613905346976, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1397.1657059232941, + -354.17806284211645, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1395.6657059232941, + -351.57998663076313, + 65.46573359420506 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1395.6657059232941, + -351.57998663076313, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1395.6657059232941, + -348.57998663076313, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1395.6657059232941, + -345.57998663076313, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1395.6657059232941, + -342.57998663076313, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1395.6657059232941, + -339.57998663076313, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1395.6657059232941, + -336.57998663076313, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1395.6657059232941, + -333.57998663076313, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1395.6657059232941, + -330.57998663076313, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1395.6657059232941, + -327.57998663076313, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1395.6657059232941, + -324.57998663076313, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1395.6657059232941, + -321.57998663076313, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1395.6657059232941, + -318.57998663076313, + 65.46573359420506 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1395.6657059232941, + -318.57998663076313, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1397.1657059232941, + -315.9819104194098, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1398.6657059232941, + -313.3838342080565, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1400.1657059232941, + -310.7857579967032, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1401.6657059232941, + -308.18768178534987, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1403.1657059232941, + -305.58960557399655, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1404.6657059232941, + -302.99152936264323, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1406.1657059232941, + -300.3934531512899, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1407.6657059232941, + -297.7953769399366, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1409.1657059232941, + -295.1973007285833, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1410.6657059232941, + -292.59922451722997, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1412.1657059232941, + -290.00114830587665, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1413.6657059232941, + -287.40307209452334, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1415.1657059232941, + -284.80499588317, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1416.6657059232941, + -282.2069196718167, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1418.1657059232941, + -279.6088434604634, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1419.6657059232941, + -277.0107672491101, + 65.46573359420506 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1419.6657059232941, + -277.0107672491101, + 65.46573359420506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1419.6657059232941, + -274.0107672491101, + 65.46573359420506 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1420.0, + -248.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-14-19_663091009/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-14-19_663091009/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e59245bf63472356d7eae0774912ae308fb52660 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-14-19_663091009/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1525.4016603055425, + -545.1871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1522.803584094189, + -546.6871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1520.2055078828357, + -548.1871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1517.6074316714823, + -549.6871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1515.009355460129, + -551.1871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1512.4112792487756, + -552.6871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1509.8132030374222, + -554.1871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1507.2151268260689, + -555.6871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1504.6170506147155, + -557.1871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1502.018974403362, + -558.6871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1499.4208981920087, + -560.1871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1496.8228219806554, + -561.6871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1494.224745769302, + -563.1871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1491.6266695579486, + -564.6871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1489.0285933465952, + -566.1871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1486.4305171352419, + -567.6871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1483.8324409238885, + -569.1871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1481.2343647125351, + -570.6871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1478.6362885011818, + -572.1871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1476.0382122898284, + -573.6871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1473.440136078475, + -575.1871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1470.8420598671216, + -576.6871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1468.2439836557683, + -578.1871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1465.645907444415, + -579.6871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1463.0478312330615, + -581.1871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1460.4497550217081, + -582.6871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1457.8516788103548, + -584.1871512680614, + 55.242259551523595 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1457.8516788103548, + -584.1871512680614, + 55.242259551523595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1456.3516788103548, + -586.7852274794147, + 55.242259551523595 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1420.0, + -612.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-16-26_2075548480/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-16-26_2075548480/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b3319f5f67cdbd8dc3ecf57647e0cab6649ca7d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-16-26_2075548480/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 775.798948536111, + 426.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 775.798948536111, + 423.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 775.798948536111, + 420.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 775.798948536111, + 417.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 775.798948536111, + 414.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 775.798948536111, + 411.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 775.798948536111, + 408.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 775.798948536111, + 405.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 775.798948536111, + 402.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 775.798948536111, + 399.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 775.798948536111, + 396.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 775.798948536111, + 393.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 775.798948536111, + 390.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 775.798948536111, + 387.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 775.798948536111, + 384.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 775.798948536111, + 381.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 775.798948536111, + 378.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 775.798948536111, + 375.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 775.798948536111, + 372.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 775.798948536111, + 369.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 775.798948536111, + 366.58809422898435, + 54.90207959795052 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 775.798948536111, + 366.58809422898435, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 774.298948536111, + 363.99001801763103, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 772.798948536111, + 361.3919418062777, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 771.298948536111, + 358.7938655949244, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 769.798948536111, + 356.1957893835711, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 768.298948536111, + 353.59771317221777, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 766.798948536111, + 350.99963696086445, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 765.298948536111, + 348.40156074951113, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 763.798948536111, + 345.8034845381578, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 762.298948536111, + 343.2054083268045, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 760.798948536111, + 340.6073321154512, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 759.298948536111, + 338.00925590409787, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 757.798948536111, + 335.41117969274455, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 756.298948536111, + 332.81310348139124, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 754.798948536111, + 330.2150272700379, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 753.298948536111, + 327.6169510586846, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 751.798948536111, + 325.0188748473313, + 54.90207959795052 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 750.298948536111, + 322.420798635978, + 54.90207959795052 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 748.0, + 308.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-16-49_520716454/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-16-49_520716454/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..555d57d08856d652a7f4c26aaf26e06b529ffd4d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-16-49_520716454/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2538.6905881123316, + 810.458531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2536.0925119009785, + 811.958531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2533.4944356896253, + 813.458531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2530.896359478272, + 814.958531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2528.298283266919, + 816.458531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2525.700207055566, + 817.958531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2523.1021308442128, + 819.458531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2520.5040546328596, + 820.958531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2517.9059784215065, + 822.458531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2515.3079022101533, + 823.958531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2512.7098259988, + 825.458531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2510.111749787447, + 826.958531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2507.513673576094, + 828.458531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2504.9155973647407, + 829.958531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2502.3175211533876, + 831.458531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2499.7194449420344, + 832.958531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2497.1213687306813, + 834.458531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2494.523292519328, + 835.958531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2491.925216307975, + 837.458531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2489.327140096622, + 838.958531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2486.7290638852687, + 840.458531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2484.1309876739156, + 841.958531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2481.5329114625624, + 843.458531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2478.9348352512093, + 844.958531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2476.336759039856, + 846.458531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2473.738682828503, + 847.958531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2471.14060661715, + 849.458531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2468.5425304057967, + 850.958531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2465.9444541944436, + 852.458531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2463.3463779830904, + 853.958531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2460.7483017717373, + 855.458531671126, + 48.89036258140978 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2460.7483017717373, + 855.458531671126, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2459.2483017717373, + 858.0566078824793, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2457.7483017717373, + 860.6546840938327, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2456.2483017717373, + 863.252760305186, + 48.89036258140978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2454.7483017717373, + 865.8508365165394, + 48.89036258140978 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2440.0, + 876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-16-5_618250231/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-16-5_618250231/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99209c00ad718d11b4dbeac370038583e948a2e6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-16-5_618250231/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2274.8028710616936, + -225.86445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2272.2047948503405, + -227.36445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2269.6067186389873, + -228.86445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2267.008642427634, + -230.36445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2264.410566216281, + -231.86445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2261.812490004928, + -233.36445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2259.2144137935747, + -234.86445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2256.6163375822216, + -236.36445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2254.0182613708685, + -237.86445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2251.4201851595153, + -239.36445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2248.822108948162, + -240.86445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2246.224032736809, + -242.36445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2243.625956525456, + -243.86445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2241.0278803141027, + -245.36445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2238.4298041027496, + -246.86445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2235.8317278913964, + -248.36445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2233.2336516800433, + -249.86445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2230.63557546869, + -251.36445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2228.037499257337, + -252.86445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2225.439423045984, + -254.36445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2222.8413468346307, + -255.86445852642458, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2220.2432706232776, + -257.3644585264246, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2217.6451944119244, + -258.8644585264246, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2215.0471182005713, + -260.3644585264246, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2212.449041989218, + -261.8644585264246, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2209.850965777865, + -263.3644585264246, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2207.252889566512, + -264.8644585264246, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2204.6548133551587, + -266.3644585264246, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2202.0567371438055, + -267.8644585264246, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2199.4586609324524, + -269.3644585264246, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2196.8605847210993, + -270.8644585264246, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2194.262508509746, + -272.3644585264246, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2191.664432298393, + -273.8644585264246, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2189.06635608704, + -275.3644585264246, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2186.4682798756867, + -276.8644585264246, + 41.17515582863509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2183.8702036643335, + -278.3644585264246, + 41.17515582863509 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2148.0, + -300.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-18-46_614064335/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-18-46_614064335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c28a98cf18c4e8b3abe844badc9e81c8140dcbc0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-18-46_614064335/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 429.2757245417755, + -1773.8282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 426.6776483304222, + -1772.3282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 424.07957211906887, + -1770.8282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 421.48149590771555, + -1769.3282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 418.88341969636224, + -1767.8282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 416.2853434850089, + -1766.3282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 413.6872672736556, + -1764.8282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 411.0891910623023, + -1763.3282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 408.491114850949, + -1761.8282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 405.89303863959566, + -1760.3282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 403.29496242824234, + -1758.8282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 400.696886216889, + -1757.3282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 398.0988100055357, + -1755.8282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 395.5007337941824, + -1754.3282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 392.9026575828291, + -1752.8282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 390.30458137147576, + -1751.3282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 387.70650516012245, + -1749.8282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 385.10842894876913, + -1748.3282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 382.5103527374158, + -1746.8282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 379.9122765260625, + -1745.3282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 377.3142003147092, + -1743.8282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 374.71612410335587, + -1742.3282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 372.11804789200255, + -1740.8282669796715, + 51.28514907508915 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 372.11804789200255, + -1740.8282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 369.11804789200255, + -1740.8282669796715, + 51.28514907508915 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 366.11804789200255, + -1740.8282669796715, + 51.28514907508915 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 336.0, + -1724.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-19-51_1063485056/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-19-51_1063485056/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e91b65262a4018b5e0a3ecbe547c985b2823fded --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-19-51_1063485056/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2441.7069816077974, + -2961.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2441.7069816077974, + -2958.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2441.7069816077974, + -2955.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2441.7069816077974, + -2952.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2441.7069816077974, + -2949.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2441.7069816077974, + -2946.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2441.7069816077974, + -2943.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2441.7069816077974, + -2940.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2441.7069816077974, + -2937.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2441.7069816077974, + -2934.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2441.7069816077974, + -2931.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2441.7069816077974, + -2928.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2441.7069816077974, + -2925.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2441.7069816077974, + -2922.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2441.7069816077974, + -2919.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2441.7069816077974, + -2916.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2441.7069816077974, + -2913.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2441.7069816077974, + -2910.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2441.7069816077974, + -2907.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2441.7069816077974, + -2904.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2441.7069816077974, + -2901.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2441.7069816077974, + -2898.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2441.7069816077974, + -2895.598167820792, + 51.06398125318361 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2441.7069816077974, + -2895.598167820792, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2440.2069816077974, + -2893.0000916094386, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2438.7069816077974, + -2890.4020153980855, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2437.2069816077974, + -2887.8039391867324, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2435.7069816077974, + -2885.205862975379, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2434.2069816077974, + -2882.607786764026, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2432.7069816077974, + -2880.009710552673, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2431.2069816077974, + -2877.4116343413198, + 51.06398125318361 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2429.7069816077974, + -2874.8135581299666, + 51.06398125318361 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2424.0, + -2844.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-21-59_1269833163/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-21-59_1269833163/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5c357e14ffa8e885871064156496efa40a60d2a2 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-21-59_1269833163/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3294.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3291.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3288.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3285.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3282.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3279.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3276.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3273.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3270.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3267.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3264.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3261.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3258.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3255.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3252.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3249.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3246.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3243.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3240.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3237.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3234.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3231.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3228.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3225.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3222.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3219.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3216.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3213.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3213.390297256217, + 2319.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3210.7922210448637, + 2318.4744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3208.1941448335106, + 2316.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3205.5960686221574, + 2315.4744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3202.9979924108043, + 2313.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3200.399916199451, + 2312.4744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3197.801839988098, + 2310.9744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3195.203763776745, + 2309.4744015318965, + 50.42743343121997 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3192.6056875653917, + 2307.9744015318965, + 50.42743343121997 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3152.0, + 2300.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-23-29_1106668624/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-23-29_1106668624/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3165524a9557a3ca64d4fe280c5be54d7436ea6f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-23-29_1106668624/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1423.2096371109844, + -2375.328866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1425.8077133223378, + -2376.828866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1428.4057895336912, + -2378.328866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1431.0038657450445, + -2379.828866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1433.601941956398, + -2381.328866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1436.2000181677513, + -2382.828866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1438.7980943791047, + -2384.328866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1441.396170590458, + -2385.828866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1443.9942468018114, + -2387.328866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1446.5923230131648, + -2388.828866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1449.1903992245182, + -2390.328866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1451.7884754358715, + -2391.828866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1454.386551647225, + -2393.328866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1456.9846278585783, + -2394.828866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1459.5827040699317, + -2396.328866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1462.180780281285, + -2397.828866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1464.7788564926384, + -2399.328866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1467.3769327039918, + -2400.828866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1469.9750089153451, + -2402.328866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1472.5730851266985, + -2403.828866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1475.171161338052, + -2405.328866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1477.7692375494053, + -2406.828866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1480.3673137607586, + -2408.328866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1482.965389972112, + -2409.828866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1485.5634661834654, + -2411.328866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1488.1615423948188, + -2412.828866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1490.7596186061721, + -2414.328866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1493.3576948175255, + -2415.828866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1495.9557710288789, + -2417.328866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1498.5538472402322, + -2418.828866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1501.1519234515856, + -2420.328866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1503.749999662939, + -2421.828866101769, + 44.882254275469776 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1503.749999662939, + -2421.828866101769, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1505.249999662939, + -2424.4269423131223, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1506.749999662939, + -2427.0250185244754, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1508.249999662939, + -2429.6230947358285, + 44.882254275469776 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1509.749999662939, + -2432.2211709471817, + 44.882254275469776 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1536.0, + -2448.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-27-2_821687849/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-27-2_821687849/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6abed0d2397b17d822debb36649ec67fd9757915 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-27-2_821687849/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2659.331583524258, + -2701.073442071094, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2657.831583524258, + -2698.475365859741, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2656.331583524258, + -2695.877289648388, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2654.831583524258, + -2693.2792134370347, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2653.331583524258, + -2690.6811372256816, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2651.831583524258, + -2688.0830610143285, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2650.331583524258, + -2685.4849848029753, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2648.831583524258, + -2682.886908591622, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2647.331583524258, + -2680.288832380269, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2645.831583524258, + -2677.690756168916, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2644.331583524258, + -2675.0926799575627, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2642.831583524258, + -2672.4946037462096, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2641.331583524258, + -2669.8965275348564, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2639.831583524258, + -2667.2984513235033, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2638.331583524258, + -2664.70037511215, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2636.831583524258, + -2662.102298900797, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2635.331583524258, + -2659.504222689444, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2633.831583524258, + -2656.9061464780907, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2632.331583524258, + -2654.3080702667376, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2630.831583524258, + -2651.7099940553844, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2629.331583524258, + -2649.1119178440313, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2627.831583524258, + -2646.513841632678, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2626.331583524258, + -2643.915765421325, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2624.831583524258, + -2641.317689209972, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2623.331583524258, + -2638.7196129986187, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2621.831583524258, + -2636.1215367872655, + 65.27924847118172 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2621.831583524258, + -2636.1215367872655, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982706 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2619.2335073129047, + -2634.6215367872655, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2616.6354311015516, + -2633.1215367872655, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2614.0373548901985, + -2631.6215367872655, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2611.4392786788453, + -2630.1215367872655, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2608.841202467492, + -2628.6215367872655, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2606.243126256139, + -2627.1215367872655, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2603.645050044786, + -2625.6215367872655, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2601.0469738334327, + -2624.1215367872655, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2598.4488976220796, + -2622.6215367872655, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2595.8508214107264, + -2621.1215367872655, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2593.2527451993733, + -2619.6215367872655, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2590.65466898802, + -2618.1215367872655, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2588.056592776667, + -2616.6215367872655, + 65.27924847118172 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2585.458516565314, + -2615.1215367872655, + 65.27924847118172 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2568.0, + -2596.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-29-3_150238230/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-29-3_150238230/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ea52c5e1e7bd8ac0609920d72c6fd22898167fe1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-29-3_150238230/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2613.5508208965166, + 2449.1260324935674, + 64.28155889887893 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2615.0508208965166, + 2446.5279562822143, + 64.28155889887893 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2616.5508208965166, + 2443.929880070861, + 64.28155889887893 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2618.0508208965166, + 2441.331803859508, + 64.28155889887893 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2619.5508208965166, + 2438.733727648155, + 64.28155889887893 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2621.0508208965166, + 2436.1356514368017, + 64.28155889887893 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2622.5508208965166, + 2433.5375752254486, + 64.28155889887893 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2624.0508208965166, + 2430.9394990140954, + 64.28155889887893 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2625.5508208965166, + 2428.3414228027423, + 64.28155889887893 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2627.0508208965166, + 2425.743346591389, + 64.28155889887893 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2628.5508208965166, + 2423.145270380036, + 64.28155889887893 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2630.0508208965166, + 2420.547194168683, + 64.28155889887893 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2631.5508208965166, + 2417.9491179573297, + 64.28155889887893 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2633.0508208965166, + 2415.3510417459765, + 64.28155889887893 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2634.5508208965166, + 2412.7529655346234, + 64.28155889887893 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2634.5508208965166, + 2412.7529655346234, + 64.28155889887893 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2637.1488971078697, + 2411.2529655346234, + 64.28155889887893 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2639.746973319223, + 2409.7529655346234, + 64.28155889887893 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2642.345049530576, + 2408.2529655346234, + 64.28155889887893 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2644.943125741929, + 2406.7529655346234, + 64.28155889887893 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2647.5412019532823, + 2405.2529655346234, + 64.28155889887893 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2650.1392781646355, + 2403.7529655346234, + 64.28155889887893 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2688.0, + 2352.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-32-16_541639838/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-32-16_541639838/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..672d4b12e310a3a034dadcb09c19dcee1d39d426 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-32-16_541639838/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2820.1622027258327, + 1597.8247560050531, + 51.673716045737976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2822.760278937186, + 1599.3247560050531, + 51.673716045737976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2825.358355148539, + 1600.8247560050531, + 51.673716045737976 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2825.358355148539, + 1600.8247560050531, + 51.673716045737976 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2828.358355148539, + 1600.8247560050531, + 51.673716045737976 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2828.358355148539, + 1600.8247560050531, + 51.673716045737976 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2828.358355148539, + 1600.8247560050531, + 51.673716045737976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2829.858355148539, + 1603.4228322164065, + 51.673716045737976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2831.358355148539, + 1606.0209084277599, + 51.673716045737976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2832.858355148539, + 1608.6189846391133, + 51.673716045737976 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2834.358355148539, + 1611.2170608504666, + 51.673716045737976 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2884.0, + 1680.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-32-25_206496585/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-32-25_206496585/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2689ddf89a491886baccc1571b62ef2e2c78c70 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-32-25_206496585/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1261.4951974349506, + -1586.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1261.4951974349506, + -1589.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1261.4951974349506, + -1592.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1261.4951974349506, + -1595.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1261.4951974349506, + -1598.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1261.4951974349506, + -1601.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1261.4951974349506, + -1604.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1261.4951974349506, + -1607.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1261.4951974349506, + -1610.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1261.4951974349506, + -1613.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1261.4951974349506, + -1616.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1261.4951974349506, + -1619.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1261.4951974349506, + -1622.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1261.4951974349506, + -1625.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1261.4951974349506, + -1628.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1261.4951974349506, + -1631.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1261.4951974349506, + -1634.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1261.4951974349506, + -1637.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1261.4951974349506, + -1640.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1261.4951974349506, + -1643.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1261.4951974349506, + -1646.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1261.4951974349506, + -1649.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1261.4951974349506, + -1652.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1261.4951974349506, + -1655.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1261.4951974349506, + -1658.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1261.4951974349506, + -1661.0890035288198, + 52.41629559949756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1261.4951974349506, + -1664.0890035288198, + 52.41629559949756 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1260.0, + -1736.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-37-31_1521802050/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-37-31_1521802050/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ebc221939768456ddbcef518eb9fe3762a1d4d08 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-37-31_1521802050/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4863.8793944595345, + 723.3986924829754, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4863.8793944595345, + 726.3986924829754, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4863.8793944595345, + 729.3986924829754, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4863.8793944595345, + 732.3986924829754, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4863.8793944595345, + 735.3986924829754, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4863.8793944595345, + 738.3986924829754, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4863.8793944595345, + 741.3986924829754, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4863.8793944595345, + 744.3986924829754, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4863.8793944595345, + 747.3986924829754, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4863.8793944595345, + 750.3986924829754, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4863.8793944595345, + 753.3986924829754, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4863.8793944595345, + 756.3986924829754, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4863.8793944595345, + 759.3986924829754, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4863.8793944595345, + 762.3986924829754, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4863.8793944595345, + 765.3986924829754, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4863.8793944595345, + 768.3986924829754, + 56.0462113870714 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4863.8793944595345, + 768.3986924829754, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4862.3793944595345, + 770.9967686943287, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4860.8793944595345, + 773.5948449056821, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4859.3793944595345, + 776.1929211170354, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4857.8793944595345, + 778.7909973283888, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4856.3793944595345, + 781.3890735397422, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4854.8793944595345, + 783.9871497510956, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4853.3793944595345, + 786.5852259624489, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4851.8793944595345, + 789.1833021738023, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4850.3793944595345, + 791.7813783851557, + 56.0462113870714 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4848.8793944595345, + 794.379454596509, + 56.0462113870714 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4836.0, + 860.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-4-15_1668794409/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-4-15_1668794409/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0a9281161bb08643169734500579ee8dd45906be --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-4-15_1668794409/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 274.27266105159487, + 1629.2418545167016, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 275.77266105159487, + 1626.6437783053482, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 277.27266105159487, + 1624.0457020939948, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 278.77266105159487, + 1621.4476258826414, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 280.27266105159487, + 1618.849549671288, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 281.77266105159487, + 1616.2514734599347, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 283.27266105159487, + 1613.6533972485813, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 284.77266105159487, + 1611.055321037228, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 286.27266105159487, + 1608.4572448258746, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 287.77266105159487, + 1605.8591686145212, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 289.27266105159487, + 1603.2610924031678, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 290.77266105159487, + 1600.6630161918144, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 292.27266105159487, + 1598.064939980461, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 293.77266105159487, + 1595.4668637691077, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 295.27266105159487, + 1592.8687875577543, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 296.77266105159487, + 1590.270711346401, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 298.27266105159487, + 1587.6726351350476, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 299.77266105159487, + 1585.0745589236942, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 301.27266105159487, + 1582.4764827123408, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 302.77266105159487, + 1579.8784065009875, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 304.27266105159487, + 1577.280330289634, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 305.77266105159487, + 1574.6822540782807, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 307.27266105159487, + 1572.0841778669273, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 308.77266105159487, + 1569.486101655574, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 310.27266105159487, + 1566.8880254442206, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 311.77266105159487, + 1564.2899492328672, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 313.27266105159487, + 1561.6918730215139, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 314.77266105159487, + 1559.0937968101605, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 316.27266105159487, + 1556.495720598807, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 317.77266105159487, + 1553.8976443874537, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 319.27266105159487, + 1551.2995681761004, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 320.77266105159487, + 1548.701491964747, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 322.27266105159487, + 1546.1034157533936, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 323.77266105159487, + 1543.5053395420402, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 325.27266105159487, + 1540.9072633306869, + 45.51600911334432 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 325.27266105159487, + 1540.9072633306869, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 327.8707372629482, + 1539.4072633306869, + 45.51600911334432 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 330.4688134743015, + 1537.9072633306869, + 45.51600911334432 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 340.0, + 1528.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-40-34_155036189/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-40-34_155036189/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de0319e8508853fc176a697dd7d6be6c89180ba9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-40-34_155036189/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4686.320804664388, + 106.67838873447502, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4687.820804664388, + 104.0803125231217, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4689.320804664388, + 101.48223631176839, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4690.820804664388, + 98.88416010041507, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4692.320804664388, + 96.28608388906176, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4693.820804664388, + 93.68800767770844, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4695.320804664388, + 91.08993146635513, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4696.820804664388, + 88.49185525500181, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4698.320804664388, + 85.8937790436485, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4699.820804664388, + 83.29570283229518, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4701.320804664388, + 80.69762662094186, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4702.820804664388, + 78.09955040958855, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4704.320804664388, + 75.50147419823523, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4705.820804664388, + 72.90339798688191, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4707.320804664388, + 70.3053217755286, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4708.820804664388, + 67.70724556417528, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4710.320804664388, + 65.10916935282197, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4711.820804664388, + 62.51109314146865, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4713.320804664388, + 59.91301693011533, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4714.820804664388, + 57.31494071876202, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4716.320804664388, + 54.7168645074087, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4717.820804664388, + 52.118788296055385, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4719.320804664388, + 49.52071208470207, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4720.820804664388, + 46.92263587334875, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4722.320804664388, + 44.32455966199544, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4723.820804664388, + 41.72648345064212, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4725.320804664388, + 39.128407239288805, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4726.820804664388, + 36.53033102793549, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4728.320804664388, + 33.93225481658217, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4729.820804664388, + 31.334178605228857, + 40.36362763209234 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4729.820804664388, + 31.334178605228857, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4732.418880875741, + 29.834178605228857, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4735.016957087094, + 28.334178605228857, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4737.615033298447, + 26.834178605228857, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4740.2131095098, + 25.334178605228857, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4742.811185721153, + 23.834178605228857, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4745.4092619325065, + 22.334178605228857, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4748.00733814386, + 20.834178605228857, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4750.605414355213, + 19.334178605228857, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4753.203490566566, + 17.834178605228857, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4755.801566777919, + 16.334178605228857, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4758.399642989272, + 14.834178605228857, + 40.36362763209234 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4758.399642989272, + 14.834178605228857, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4759.899642989272, + 12.23610239387554, + 40.36362763209234 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4761.399642989272, + 9.638026182522225, + 40.36362763209234 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4776.0, + -12.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-40-3_1775428484/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-40-3_1775428484/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b72ef8ba172d05cc9cdead791cac29c77eed99b1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-40-3_1775428484/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4789.71057586952, + 1694.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4789.71057586952, + 1697.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4789.71057586952, + 1700.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4789.71057586952, + 1703.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4789.71057586952, + 1706.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4789.71057586952, + 1709.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4789.71057586952, + 1712.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4789.71057586952, + 1715.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4789.71057586952, + 1718.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4789.71057586952, + 1721.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4789.71057586952, + 1724.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4789.71057586952, + 1727.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4789.71057586952, + 1730.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4789.71057586952, + 1733.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4789.71057586952, + 1736.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4789.71057586952, + 1739.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4789.71057586952, + 1742.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4789.71057586952, + 1745.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4789.71057586952, + 1748.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4789.71057586952, + 1751.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4789.71057586952, + 1754.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4789.71057586952, + 1757.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4789.71057586952, + 1760.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4789.71057586952, + 1763.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4789.71057586952, + 1766.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4789.71057586952, + 1769.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4789.71057586952, + 1772.2464884561077, + 47.24659895949329 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4789.71057586952, + 1775.2464884561077, + 47.24659895949329 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4788.0, + 1844.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-45-44_30874969/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-45-44_30874969/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a716c80123c22116e6bec448b6a87855ea153ee --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-45-44_30874969/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3937.5243071711493, + 1286.402958744244, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3939.0243071711493, + 1289.0010349555973, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3940.5243071711493, + 1291.5991111669507, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3942.0243071711493, + 1294.197187378304, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3943.5243071711493, + 1296.7952635896575, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3945.0243071711493, + 1299.3933398010108, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3946.5243071711493, + 1301.9914160123642, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3948.0243071711493, + 1304.5894922237176, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3949.5243071711493, + 1307.187568435071, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3951.0243071711493, + 1309.7856446464243, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3952.5243071711493, + 1312.3837208577777, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3954.0243071711493, + 1314.981797069131, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3955.5243071711493, + 1317.5798732804844, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3957.0243071711493, + 1320.1779494918378, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3958.5243071711493, + 1322.7760257031912, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3960.0243071711493, + 1325.3741019145446, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3961.5243071711493, + 1327.972178125898, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3963.0243071711493, + 1330.5702543372513, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3964.5243071711493, + 1333.1683305486047, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3966.0243071711493, + 1335.766406759958, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3967.5243071711493, + 1338.3644829713114, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3969.0243071711493, + 1340.9625591826648, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3970.5243071711493, + 1343.5606353940182, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3972.0243071711493, + 1346.1587116053715, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3973.5243071711493, + 1348.756787816725, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3975.0243071711493, + 1351.3548640280783, + 66.8027673343804 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3975.0243071711493, + 1351.3548640280783, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3975.0243071711493, + 1354.3548640280783, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3975.0243071711493, + 1357.3548640280783, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3975.0243071711493, + 1360.3548640280783, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3975.0243071711493, + 1363.3548640280783, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3975.0243071711493, + 1366.3548640280783, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3975.0243071711493, + 1369.3548640280783, + 66.8027673343804 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3975.0243071711493, + 1372.3548640280783, + 66.8027673343804 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3992.0, + 1420.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-46-25_1699219986/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-46-25_1699219986/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f9c358e4c04dec459c2aad4696493a56193b33d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-46-25_1699219986/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2996.703519596134, + 1764.4719572826682, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2995.203519596134, + 1767.0700334940216, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2993.703519596134, + 1769.668109705375, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2992.203519596134, + 1772.2661859167283, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2990.703519596134, + 1774.8642621280817, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2989.203519596134, + 1777.462338339435, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2987.703519596134, + 1780.0604145507884, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2986.203519596134, + 1782.6584907621418, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2984.703519596134, + 1785.2565669734952, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2983.203519596134, + 1787.8546431848486, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2981.703519596134, + 1790.452719396202, + 41.047615006315354 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2981.703519596134, + 1790.452719396202, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2979.1054433847808, + 1791.952719396202, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2976.5073671734276, + 1793.452719396202, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2973.9092909620745, + 1794.952719396202, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2971.3112147507213, + 1796.452719396202, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2968.713138539368, + 1797.952719396202, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2966.115062328015, + 1799.452719396202, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2963.516986116662, + 1800.952719396202, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2960.9189099053087, + 1802.452719396202, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2958.3208336939556, + 1803.952719396202, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2955.7227574826024, + 1805.452719396202, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2953.1246812712493, + 1806.952719396202, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2950.526605059896, + 1808.452719396202, + 41.047615006315354 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2950.526605059896, + 1808.452719396202, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2949.026605059896, + 1811.0507956075553, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2947.526605059896, + 1813.6488718189087, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2946.026605059896, + 1816.246948030262, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2944.526605059896, + 1818.8450242416154, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2943.026605059896, + 1821.4431004529688, + 41.047615006315354 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2943.026605059896, + 1821.4431004529688, + 41.047615006315354 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2940.428528848543, + 1822.9431004529688, + 41.047615006315354 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2920.0, + 1844.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-46-4_914453810/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-46-4_914453810/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9e5f5ae46efe320ae10b304bc8da3b049adf428 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-46-4_914453810/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1782.0458465863803, + -1484.5315900692462, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1783.5458465863803, + -1487.1296662805996, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1785.0458465863803, + -1489.727742491953, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1786.5458465863803, + -1492.3258187033064, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1788.0458465863803, + -1494.9238949146597, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1789.5458465863803, + -1497.521971126013, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1791.0458465863803, + -1500.1200473373665, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1792.5458465863803, + -1502.7181235487199, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1794.0458465863803, + -1505.3161997600732, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1795.5458465863803, + -1507.9142759714266, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1797.0458465863803, + -1510.51235218278, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1798.5458465863803, + -1513.1104283941334, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1800.0458465863803, + -1515.7085046054867, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1801.5458465863803, + -1518.30658081684, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1803.0458465863803, + -1520.9046570281935, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1804.5458465863803, + -1523.5027332395468, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1806.0458465863803, + -1526.1008094509002, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1807.5458465863803, + -1528.6988856622536, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1809.0458465863803, + -1531.296961873607, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1810.5458465863803, + -1533.8950380849603, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1812.0458465863803, + -1536.4931142963137, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1813.5458465863803, + -1539.091190507667, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1815.0458465863803, + -1541.6892667190205, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1816.5458465863803, + -1544.2873429303738, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1818.0458465863803, + -1546.8854191417272, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1819.5458465863803, + -1549.4834953530806, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1821.0458465863803, + -1552.081571564434, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1822.5458465863803, + -1554.6796477757873, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1824.0458465863803, + -1557.2777239871407, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1825.5458465863803, + -1559.875800198494, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1827.0458465863803, + -1562.4738764098474, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1828.5458465863803, + -1565.0719526212008, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1830.0458465863803, + -1567.6700288325542, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1831.5458465863803, + -1570.2681050439076, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1833.0458465863803, + -1572.866181255261, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1834.5458465863803, + -1575.4642574666143, + 62.42283857618145 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1836.0458465863803, + -1578.0623336779677, + 62.42283857618145 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1844.0, + -1596.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-47-33_543066317/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-47-33_543066317/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..28d3afc12919cdecfe84a30b588ac61d3dff957f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-47-33_543066317/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2613.660968564195, + -2308.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2610.660968564195, + -2308.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2607.660968564195, + -2308.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2604.660968564195, + -2308.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2601.660968564195, + -2308.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2598.660968564195, + -2308.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2595.660968564195, + -2308.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2592.660968564195, + -2308.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2589.660968564195, + -2308.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2586.660968564195, + -2308.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2583.660968564195, + -2308.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2580.660968564195, + -2308.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2577.660968564195, + -2308.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2574.660968564195, + -2308.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2571.660968564195, + -2308.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2568.660968564195, + -2308.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2565.660968564195, + -2308.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2562.660968564195, + -2308.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2559.660968564195, + -2308.7584357443993, + 65.4719171304584 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2559.660968564195, + -2308.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2557.062892352842, + -2307.2584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2554.464816141489, + -2305.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2551.8667399301357, + -2304.2584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2549.2686637187826, + -2302.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2546.6705875074294, + -2301.2584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2544.0725112960763, + -2299.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2541.474435084723, + -2298.2584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2538.87635887337, + -2296.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2536.278282662017, + -2295.2584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2533.6802064506637, + -2293.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2531.0821302393106, + -2292.2584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2528.4840540279574, + -2290.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2525.8859778166043, + -2289.2584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2523.287901605251, + -2287.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2520.689825393898, + -2286.2584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2518.091749182545, + -2284.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2515.4936729711917, + -2283.2584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2512.8955967598386, + -2281.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2510.2975205484854, + -2280.2584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2507.6994443371323, + -2278.7584357443993, + 65.4719171304584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2505.101368125779, + -2277.2584357443993, + 65.4719171304584 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2476.0, + -2268.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-47-57_197277486/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-47-57_197277486/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..acda594115070a558658882f93e47ed62b4c9115 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-47-57_197277486/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2491.359406745642, + -851.2816671170183, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2492.859406745642, + -848.6835909056649, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2494.359406745642, + -846.0855146943115, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2495.859406745642, + -843.4874384829582, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2497.359406745642, + -840.8893622716048, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2498.859406745642, + -838.2912860602514, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2500.359406745642, + -835.693209848898, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2501.859406745642, + -833.0951336375447, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2503.359406745642, + -830.4970574261913, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2504.859406745642, + -827.8989812148379, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2506.359406745642, + -825.3009050034846, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2507.859406745642, + -822.7028287921312, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2509.359406745642, + -820.1047525807778, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2510.859406745642, + -817.5066763694244, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2512.359406745642, + -814.9086001580711, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2513.859406745642, + -812.3105239467177, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2515.359406745642, + -809.7124477353643, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2516.859406745642, + -807.114371524011, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2518.359406745642, + -804.5162953126576, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2519.859406745642, + -801.9182191013042, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2521.359406745642, + -799.3201428899508, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2522.859406745642, + -796.7220666785975, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2524.359406745642, + -794.1239904672441, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2525.859406745642, + -791.5259142558907, + 48.553591280778235 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2525.859406745642, + -791.5259142558907, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2528.457482956995, + -790.0259142558907, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2531.0555591683483, + -788.5259142558907, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2533.6536353797014, + -787.0259142558907, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2536.2517115910546, + -785.5259142558907, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2538.8497878024077, + -784.0259142558907, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2541.447864013761, + -782.5259142558907, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2544.045940225114, + -781.0259142558907, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2546.644016436467, + -779.5259142558907, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2549.2420926478203, + -778.0259142558907, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2551.8401688591734, + -776.5259142558907, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2554.4382450705266, + -775.0259142558907, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2557.0363212818797, + -773.5259142558907, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2559.634397493233, + -772.0259142558907, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2562.232473704586, + -770.5259142558907, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2564.830549915939, + -769.0259142558907, + 48.553591280778235 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2567.4286261272923, + -767.5259142558907, + 48.553591280778235 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2592.0, + -744.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-48-22_667416757/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-48-22_667416757/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c6151b11c3097c660dd595a60cfb2c83e0769c7 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-48-22_667416757/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1951.7448577139467, + -160.66044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1948.7448577139467, + -160.66044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1945.7448577139467, + -160.66044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1942.7448577139467, + -160.66044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1939.7448577139467, + -160.66044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1936.7448577139467, + -160.66044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1933.7448577139467, + -160.66044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1930.7448577139467, + -160.66044108214336, + 52.497317760752686 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1930.7448577139467, + -160.66044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1928.1467815025933, + -159.16044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1925.54870529124, + -157.66044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1922.9506290798865, + -156.16044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1920.3525528685332, + -154.66044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1917.7544766571798, + -153.16044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1915.1564004458264, + -151.66044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1912.558324234473, + -150.16044108214336, + 52.497317760752686 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1912.558324234473, + -150.16044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1909.558324234473, + -150.16044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1906.558324234473, + -150.16044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1903.558324234473, + -150.16044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1900.558324234473, + -150.16044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1897.558324234473, + -150.16044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1894.558324234473, + -150.16044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1891.558324234473, + -150.16044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1888.558324234473, + -150.16044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1885.558324234473, + -150.16044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1882.558324234473, + -150.16044108214336, + 52.497317760752686 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1879.558324234473, + -150.16044108214336, + 52.497317760752686 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1824.0, + -144.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-48-40_1808851235/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-48-40_1808851235/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e5a69b425ee7340b2332d39021caa67fc048b74a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-48-40_1808851235/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1951.1301799646533, + 208.5291044446578, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1952.6301799646533, + 211.12718065601112, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1954.1301799646533, + 213.72525686736444, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1955.6301799646533, + 216.32333307871775, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1957.1301799646533, + 218.92140929007107, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1958.6301799646533, + 221.51948550142438, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1960.1301799646533, + 224.1175617127777, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1961.6301799646533, + 226.71563792413102, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1963.1301799646533, + 229.31371413548433, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1964.6301799646533, + 231.91179034683765, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1966.1301799646533, + 234.50986655819096, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1967.6301799646533, + 237.10794276954428, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1969.1301799646533, + 239.7060189808976, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1970.6301799646533, + 242.3040951922509, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1972.1301799646533, + 244.90217140360423, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1973.6301799646533, + 247.50024761495754, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1975.1301799646533, + 250.09832382631086, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1976.6301799646533, + 252.69640003766418, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1978.1301799646533, + 255.2944762490175, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1979.6301799646533, + 257.8925524603708, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196593 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1981.1301799646533, + 260.4906286717241, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1982.6301799646533, + 263.0887048830774, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1984.1301799646533, + 265.6867810944307, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1985.6301799646533, + 268.28485730578404, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1987.1301799646533, + 270.88293351713736, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1988.6301799646533, + 273.4810097284907, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1990.1301799646533, + 276.079085939844, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1991.6301799646533, + 278.6771621511973, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1993.1301799646533, + 281.2752383625506, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1994.6301799646533, + 283.87331457390394, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1996.1301799646533, + 286.47139078525726, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1997.6301799646533, + 289.0694669966106, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1999.1301799646533, + 291.6675432079639, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2000.6301799646533, + 294.2656194193172, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2002.1301799646533, + 296.8636956306705, + 61.18289881848976 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2002.1301799646533, + 296.8636956306705, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2004.7282561760067, + 298.3636956306705, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2007.32633238736, + 299.8636956306705, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2009.9244085987134, + 301.3636956306705, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2012.5224848100668, + 302.8636956306705, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2015.1205610214201, + 304.3636956306705, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2017.7186372327735, + 305.8636956306705, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2020.316713444127, + 307.3636956306705, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2022.9147896554803, + 308.8636956306705, + 61.18289881848976 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 2025.5128658668336, + 310.3636956306705, + 61.18289881848976 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2028.0, + 312.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-50-55_2142447450/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-50-55_2142447450/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..911dae395e4afd9e904377bf261adb43c89f69d4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-50-55_2142447450/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1858.3738465670608, + 216.29251136080993, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1856.8738465670608, + 218.89058757216324, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1855.3738465670608, + 221.48866378351656, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1853.8738465670608, + 224.08673999486987, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1852.3738465670608, + 226.6848162062232, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1850.8738465670608, + 229.2828924175765, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1849.3738465670608, + 231.88096862892982, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1847.8738465670608, + 234.47904484028314, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1846.3738465670608, + 237.07712105163645, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1844.8738465670608, + 239.67519726298977, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1843.3738465670608, + 242.27327347434309, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1841.8738465670608, + 244.8713496856964, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1840.3738465670608, + 247.46942589704972, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1838.8738465670608, + 250.06750210840303, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1837.3738465670608, + 252.66557831975635, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1835.8738465670608, + 255.26365453110967, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1834.3738465670608, + 257.861730742463, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966025 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1832.8738465670608, + 260.4598069538163, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1831.3738465670608, + 263.05788316516964, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1829.8738465670608, + 265.65595937652296, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1828.3738465670608, + 268.2540355878763, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1826.8738465670608, + 270.8521117992296, + 49.01905138134978 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1826.8738465670608, + 270.8521117992296, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1824.2757703557074, + 272.3521117992296, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1821.677694144354, + 273.8521117992296, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1819.0796179330007, + 275.3521117992296, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1816.4815417216473, + 276.8521117992296, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1813.883465510294, + 278.3521117992296, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1811.2853892989406, + 279.8521117992296, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1808.6873130875872, + 281.3521117992296, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1806.0892368762338, + 282.8521117992296, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1803.4911606648805, + 284.3521117992296, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1800.893084453527, + 285.8521117992296, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1798.2950082421737, + 287.3521117992296, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1795.6969320308203, + 288.8521117992296, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1793.098855819467, + 290.3521117992296, + 49.01905138134978 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1793.098855819467, + 290.3521117992296, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1791.598855819467, + 292.9501880105829, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1790.098855819467, + 295.5482642219362, + 49.01905138134978 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1788.598855819467, + 298.14634043328954, + 49.01905138134978 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1776.0, + 312.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-55-32_291169347/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-55-32_291169347/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99e9f67172e6b7f964ed00f9c6b4c2c620637f3d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-55-32_291169347/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1647.3939030504116, + -1293.588814272899, + 49.52913684344314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1644.7958268390582, + -1295.088814272899, + 49.52913684344314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1642.1977506277049, + -1296.588814272899, + 49.52913684344314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1639.5996744163515, + -1298.088814272899, + 49.52913684344314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1637.0015982049981, + -1299.588814272899, + 49.52913684344314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1634.4035219936447, + -1301.088814272899, + 49.52913684344314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1631.8054457822914, + -1302.588814272899, + 49.52913684344314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1629.207369570938, + -1304.088814272899, + 49.52913684344314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1626.6092933595846, + -1305.588814272899, + 49.52913684344314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1624.0112171482313, + -1307.088814272899, + 49.52913684344314 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1621.4131409368779, + -1308.588814272899, + 49.52913684344314 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1621.4131409368779, + -1308.588814272899, + 49.52913684344314 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1618.4131409368779, + -1308.588814272899, + 49.52913684344314 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1615.4131409368779, + -1308.588814272899, + 49.52913684344314 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1544.0, + -1336.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-55-44_965620727/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-55-44_965620727/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67955e21fbbe882e3df49345ed6c4f41a400c4aa --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-55-44_965620727/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -884.4313211341869, + 162.67300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -884.4313211341869, + 165.67300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -884.4313211341869, + 168.67300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -884.4313211341869, + 171.67300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -884.4313211341869, + 174.67300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -884.4313211341869, + 177.67300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -884.4313211341869, + 180.67300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -884.4313211341869, + 183.67300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -884.4313211341869, + 186.67300050287042, + 59.336223894097685 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -884.4313211341869, + 186.67300050287042, + 59.336223894097685 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -884.4313211341869, + 186.67300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -881.8332449228335, + 188.17300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -879.2351687114801, + 189.67300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -876.6370925001268, + 191.17300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -874.0390162887734, + 192.67300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -871.44094007742, + 194.17300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -868.8428638660666, + 195.67300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -866.2447876547133, + 197.17300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -863.6467114433599, + 198.67300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -861.0486352320065, + 200.17300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -858.4505590206531, + 201.67300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -855.8524828092998, + 203.17300050287042, + 59.336223894097685 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -855.8524828092998, + 203.17300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -852.8524828092998, + 203.17300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -849.8524828092998, + 203.17300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -846.8524828092998, + 203.17300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -843.8524828092998, + 203.17300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -840.8524828092998, + 203.17300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -837.8524828092998, + 203.17300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -834.8524828092998, + 203.17300050287042, + 59.336223894097685 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -834.8524828092998, + 203.17300050287042, + 59.336223894097685 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -834.8524828092998, + 203.17300050287042, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -833.3524828092998, + 205.77107671422374, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -831.8524828092998, + 208.36915292557705, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -830.3524828092998, + 210.96722913693037, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -828.8524828092998, + 213.5653053482837, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -827.3524828092998, + 216.163381559637, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -825.8524828092998, + 218.76145777099032, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -824.3524828092998, + 221.35953398234363, + 59.336223894097685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -822.8524828092998, + 223.95761019369695, + 59.336223894097685 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -808.0, + 236.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-8-10_1075156181/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-8-10_1075156181/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..25e1a7ad820ac934ccc514f5d2dd915756ac2a3e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_10-8-10_1075156181/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2639.070806287028, + -1295.4537639033035, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2637.570806287028, + -1292.8556876919502, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2636.070806287028, + -1290.2576114805968, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2634.570806287028, + -1287.6595352692434, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2633.070806287028, + -1285.06145905789, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2631.570806287028, + -1282.4633828465367, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2630.070806287028, + -1279.8653066351833, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2628.570806287028, + -1277.26723042383, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2627.070806287028, + -1274.6691542124765, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2625.570806287028, + -1272.0710780011232, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2624.070806287028, + -1269.4730017897698, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2622.570806287028, + -1266.8749255784164, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2621.070806287028, + -1264.276849367063, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2619.570806287028, + -1261.6787731557097, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2618.070806287028, + -1259.0806969443563, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2616.570806287028, + -1256.482620733003, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2615.070806287028, + -1253.8845445216496, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2613.570806287028, + -1251.2864683102962, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2612.070806287028, + -1248.6883920989428, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2610.570806287028, + -1246.0903158875894, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2609.070806287028, + -1243.492239676236, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2607.570806287028, + -1240.8941634648827, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2606.070806287028, + -1238.2960872535293, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2604.570806287028, + -1235.698011042176, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2603.070806287028, + -1233.0999348308226, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2601.570806287028, + -1230.5018586194692, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2600.070806287028, + -1227.9037824081158, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2598.570806287028, + -1225.3057061967625, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2597.070806287028, + -1222.707629985409, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2595.570806287028, + -1220.1095537740557, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2594.070806287028, + -1217.5114775627023, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2592.570806287028, + -1214.913401351349, + 68.28140251158385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2591.070806287028, + -1212.3153251399956, + 68.28140251158385 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2576.0, + -1184.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-1-50_681678003/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-1-50_681678003/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..46f0c77987e382ce38b516562f365c7e4a97d3be --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-1-50_681678003/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 788.1108106927853, + -384.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 791.1108106927853, + -384.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 794.1108106927853, + -384.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 797.1108106927853, + -384.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 800.1108106927853, + -384.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 803.1108106927853, + -384.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 806.1108106927853, + -384.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 809.1108106927853, + -384.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 812.1108106927853, + -384.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 815.1108106927853, + -384.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 818.1108106927853, + -384.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 821.1108106927853, + -384.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 824.1108106927853, + -384.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 827.1108106927853, + -384.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 830.1108106927853, + -384.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 833.1108106927853, + -384.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 836.1108106927853, + -384.7159151857477, + 41.5660701476473 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 836.1108106927853, + -384.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 838.7088869041386, + -386.2159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 841.306963115492, + -387.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 843.9050393268453, + -389.2159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 846.5031155381987, + -390.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 849.1011917495521, + -392.2159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 851.6992679609054, + -393.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 854.2973441722588, + -395.2159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 856.8954203836122, + -396.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 859.4934965949656, + -398.2159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 862.0915728063189, + -399.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 864.6896490176723, + -401.2159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 867.2877252290257, + -402.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 869.885801440379, + -404.2159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 872.4838776517324, + -405.7159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 875.0819538630858, + -407.2159151857477, + 41.5660701476473 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 875.0819538630858, + -407.2159151857477, + 41.5660701476473 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 875.0819538630858, + -407.2159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794887 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 875.0819538630858, + -410.2159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 875.0819538630858, + -413.2159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 875.0819538630858, + -416.2159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 875.0819538630858, + -419.2159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 875.0819538630858, + -422.2159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 875.0819538630858, + -425.2159151857477, + 41.5660701476473 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 875.0819538630858, + -425.2159151857477, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 876.5819538630858, + -427.813991397101, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 878.0819538630858, + -430.4120676084543, + 41.5660701476473 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 879.5819538630858, + -433.01014381980764, + 41.5660701476473 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 900.0, + -444.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-10-50_1851329519/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-10-50_1851329519/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..078af6dd705e1314c8c91cdc67600745fcd671b2 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-10-50_1851329519/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 998.3755086564639, + 676.9877981875632, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 999.8755086564639, + 679.5858743989165, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1001.3755086564639, + 682.1839506102699, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1002.8755086564639, + 684.7820268216233, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1004.3755086564639, + 687.3801030329766, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1005.8755086564639, + 689.97817924433, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1007.3755086564639, + 692.5762554556834, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1008.8755086564639, + 695.1743316670368, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1010.3755086564639, + 697.7724078783901, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1011.8755086564639, + 700.3704840897435, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1013.3755086564639, + 702.9685603010969, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1014.8755086564639, + 705.5666365124503, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1016.3755086564639, + 708.1647127238036, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1017.8755086564639, + 710.762788935157, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1019.3755086564639, + 713.3608651465104, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1020.8755086564639, + 715.9589413578638, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1022.3755086564639, + 718.5570175692171, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1023.8755086564639, + 721.1550937805705, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1025.375508656464, + 723.7531699919239, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965743 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1026.875508656464, + 726.3512462032772, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1028.375508656464, + 728.9493224146306, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1029.875508656464, + 731.547398625984, + 44.31947294445165 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1029.875508656464, + 731.547398625984, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1032.4735848678174, + 733.047398625984, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1035.0716610791708, + 734.547398625984, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1037.6697372905242, + 736.047398625984, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1040.2678135018775, + 737.547398625984, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1042.865889713231, + 739.047398625984, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1045.4639659245843, + 740.547398625984, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1048.0620421359376, + 742.047398625984, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1050.660118347291, + 743.547398625984, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1053.2581945586444, + 745.047398625984, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1055.8562707699978, + 746.547398625984, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1058.4543469813511, + 748.047398625984, + 44.31947294445165 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1061.0524231927045, + 749.547398625984, + 44.31947294445165 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1080.0, + 776.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-11-24_146266066/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-11-24_146266066/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..602d042eb6e54c30a0513ea6e9527a9765321725 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-11-24_146266066/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 314.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 317.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 320.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 323.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 326.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 329.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 332.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 335.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 338.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 341.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 344.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 347.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 350.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 353.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 356.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 359.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 362.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 365.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 368.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 371.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 374.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 374.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 374.9860889413871, + 609.1313622467638, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 376.4860889413871, + 606.5332860354106, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 377.9860889413871, + 603.9352098240572, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 379.4860889413871, + 601.3371336127038, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 380.9860889413871, + 598.7390574013505, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 382.4860889413871, + 596.1409811899971, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 383.9860889413871, + 593.5429049786437, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 385.4860889413871, + 590.9448287672903, + 43.468206948685605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 386.9860889413871, + 588.346752555937, + 43.468206948685605 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 428.0, + 576.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-14-34_311524657/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-14-34_311524657/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c887368ef2e1c3b9a0eb759f67393f5c30871b36 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-14-34_311524657/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4441.047832538217, + 432.4954994401748, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4439.547832538217, + 435.0935756515281, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4438.047832538217, + 437.69165186288143, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4436.547832538217, + 440.28972807423474, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4435.047832538217, + 442.88780428558806, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4433.547832538217, + 445.4858804969414, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4432.047832538217, + 448.0839567082947, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4430.547832538217, + 450.682032919648, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4429.047832538217, + 453.2801091310013, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4427.547832538217, + 455.87818534235464, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4426.047832538217, + 458.47626155370796, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4424.547832538217, + 461.0743377650613, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4423.047832538217, + 463.6724139764146, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4421.547832538217, + 466.2704901877679, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4420.047832538217, + 468.8685663991212, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4418.547832538217, + 471.46664261047454, + 55.88539703758338 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4418.547832538217, + 471.46664261047454, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4415.949756326864, + 472.96664261047454, + 55.88539703758338 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4415.949756326864, + 472.96664261047454, + 55.88539703758338 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4415.949756326864, + 472.96664261047454, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948684 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4415.949756326864, + 475.96664261047454, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4415.949756326864, + 478.96664261047454, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4415.949756326864, + 481.96664261047454, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4415.949756326864, + 484.96664261047454, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4415.949756326864, + 487.96664261047454, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4415.949756326864, + 490.96664261047454, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4415.949756326864, + 493.96664261047454, + 55.88539703758338 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4415.949756326864, + 493.96664261047454, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4417.449756326864, + 496.56471882182785, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4418.949756326864, + 499.16279503318117, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4420.449756326864, + 501.7608712445345, + 55.88539703758338 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4420.449756326864, + 501.7608712445345, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4423.047832538217, + 503.2608712445345, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4425.6459087495705, + 504.7608712445345, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4428.243984960924, + 506.2608712445345, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4430.842061172277, + 507.7608712445345, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4433.44013738363, + 509.2608712445345, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4436.038213594983, + 510.7608712445345, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4438.636289806336, + 512.2608712445344, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983109 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4441.234366017689, + 513.7608712445344, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4443.8324422290425, + 515.2608712445344, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4446.430518440396, + 516.7608712445344, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4449.028594651749, + 518.2608712445344, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4451.626670863102, + 519.7608712445344, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4454.224747074455, + 521.2608712445344, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4456.822823285808, + 522.7608712445344, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4459.420899497161, + 524.2608712445344, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 4462.0189757085145, + 525.7608712445344, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 4464.617051919868, + 527.2608712445344, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 4467.215128131221, + 528.7608712445344, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 4469.813204342574, + 530.2608712445344, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 4472.411280553927, + 531.7608712445344, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 4475.00935676528, + 533.2608712445344, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 4477.607432976633, + 534.7608712445344, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 4480.2055091879865, + 536.2608712445344, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 4482.80358539934, + 537.7608712445344, + 55.88539703758338 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 4485.401661610693, + 539.2608712445344, + 55.88539703758338 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4496.0, + 564.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-16-14_998171884/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-16-14_998171884/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1941084dcca49b14fd59ada03d15e56a0e3c1b9c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-16-14_998171884/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4743.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4746.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4749.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4752.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4755.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4758.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4761.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4764.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4767.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4770.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4773.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4776.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4779.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4782.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4785.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4788.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4791.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4794.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4797.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4800.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4803.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4806.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4809.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4812.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4815.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4818.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4818.480558066853, + -579.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4821.078634278206, + -580.6685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4823.676710489559, + -582.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4826.274786700912, + -583.6685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4828.872862912265, + -585.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4831.470939123618, + -586.6685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4834.0690153349715, + -588.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4836.667091546325, + -589.6685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4839.265167757678, + -591.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4841.863243969031, + -592.6685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4844.461320180384, + -594.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4847.059396391737, + -595.6685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4849.65747260309, + -597.1685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4852.2555488144435, + -598.6685001713338, + 66.7249330864 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4854.853625025797, + -600.1685001713338, + 66.7249330864 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4868.0, + -604.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-16-54_38199531/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-16-54_38199531/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c06d5265a4686a9a90e185cd0a817d878be189a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-16-54_38199531/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4039.9110433258197, + 225.09564666574857, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4042.9110433258197, + 225.09564666574857, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4045.9110433258197, + 225.09564666574857, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4048.9110433258197, + 225.09564666574857, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4051.9110433258197, + 225.09564666574857, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4054.9110433258197, + 225.09564666574857, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4057.9110433258197, + 225.09564666574857, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4060.9110433258197, + 225.09564666574857, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4063.9110433258197, + 225.09564666574857, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4066.9110433258197, + 225.09564666574857, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4069.9110433258197, + 225.09564666574857, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4072.9110433258197, + 225.09564666574857, + 49.51829120407758 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4072.9110433258197, + 225.09564666574857, + 49.51829120407758 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4072.9110433258197, + 225.09564666574857, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4074.4110433258197, + 222.49757045439526, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4075.9110433258197, + 219.89949424304194, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4077.4110433258197, + 217.30141803168863, + 49.51829120407758 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4077.4110433258197, + 217.30141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4080.009119537173, + 215.80141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4082.607195748526, + 214.30141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4085.205271959879, + 212.80141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4087.8033481712323, + 211.30141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4090.4014243825854, + 209.80141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4092.9995005939386, + 208.30141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4095.5975768052917, + 206.80141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4098.195653016645, + 205.30141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982515 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4100.7937292279985, + 203.80141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4103.391805439352, + 202.30141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4105.989881650705, + 200.80141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4108.587957862058, + 199.30141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4111.186034073411, + 197.80141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4113.784110284764, + 196.30141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4116.382186496117, + 194.80141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4118.9802627074705, + 193.30141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4121.578338918824, + 191.80141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4124.176415130177, + 190.30141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4126.77449134153, + 188.80141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4129.372567552883, + 187.30141803168863, + 49.51829120407758 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4131.970643764236, + 185.80141803168863, + 49.51829120407758 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4152.0, + 176.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-21-12_1634628762/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-21-12_1634628762/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fac3e04b5aad219b216832d1dfb612f78561769b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-21-12_1634628762/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 342.4011950696973, + -1861.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 342.4011950696973, + -1858.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 342.4011950696973, + -1855.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 342.4011950696973, + -1852.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 342.4011950696973, + -1849.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 342.4011950696973, + -1846.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 342.4011950696973, + -1843.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 342.4011950696973, + -1840.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 342.4011950696973, + -1837.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 342.4011950696973, + -1834.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 342.4011950696973, + -1831.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 342.4011950696973, + -1828.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 342.4011950696973, + -1825.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 342.4011950696973, + -1822.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 342.4011950696973, + -1819.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 342.4011950696973, + -1816.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 342.4011950696973, + -1813.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 342.4011950696973, + -1810.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 342.4011950696973, + -1807.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 342.4011950696973, + -1804.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 342.4011950696973, + -1801.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 342.4011950696973, + -1798.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 342.4011950696973, + -1795.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 342.4011950696973, + -1792.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 342.4011950696973, + -1789.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 342.4011950696973, + -1786.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 342.4011950696973, + -1783.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 342.4011950696973, + -1780.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 342.4011950696973, + -1777.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 342.4011950696973, + -1774.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 342.4011950696973, + -1771.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 342.4011950696973, + -1768.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 342.4011950696973, + -1765.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 342.4011950696973, + -1762.1652682685258, + 43.91221018144498 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 342.4011950696973, + -1762.1652682685258, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 340.9011950696973, + -1759.5671920571724, + 43.91221018144498 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 339.4011950696973, + -1756.969115845819, + 43.91221018144498 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 336.0, + -1724.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-22-0_946482206/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-22-0_946482206/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f9a573899ed8892ad57c9554513d433fd004a0dc --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-22-0_946482206/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 378.8565222055424, + 1202.7400453531347, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 378.8565222055424, + 1199.7400453531347, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 378.8565222055424, + 1196.7400453531347, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 378.8565222055424, + 1193.7400453531347, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 378.8565222055424, + 1190.7400453531347, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 378.8565222055424, + 1187.7400453531347, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 378.8565222055424, + 1184.7400453531347, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 378.8565222055424, + 1181.7400453531347, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 378.8565222055424, + 1178.7400453531347, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 378.8565222055424, + 1175.7400453531347, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 378.8565222055424, + 1172.7400453531347, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 378.8565222055424, + 1169.7400453531347, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 378.8565222055424, + 1166.7400453531347, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 378.8565222055424, + 1163.7400453531347, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 378.8565222055424, + 1160.7400453531347, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 378.8565222055424, + 1157.7400453531347, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 378.8565222055424, + 1154.7400453531347, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 378.8565222055424, + 1151.7400453531347, + 46.123756944884065 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 378.8565222055424, + 1151.7400453531347, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 377.3565222055424, + 1149.1419691417814, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 375.8565222055424, + 1146.543892930428, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 374.3565222055424, + 1143.9458167190746, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 372.8565222055424, + 1141.3477405077213, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 371.3565222055424, + 1138.7496642963679, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 369.8565222055424, + 1136.1515880850145, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 368.3565222055424, + 1133.5535118736611, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 366.8565222055424, + 1130.9554356623078, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 365.3565222055424, + 1128.3573594509544, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 363.8565222055424, + 1125.759283239601, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 362.3565222055424, + 1123.1612070282476, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 360.8565222055424, + 1120.5631308168943, + 46.123756944884065 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 360.8565222055424, + 1120.5631308168943, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 360.8565222055424, + 1117.5631308168943, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 360.8565222055424, + 1114.5631308168943, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 360.8565222055424, + 1111.5631308168943, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 360.8565222055424, + 1108.5631308168943, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 360.8565222055424, + 1105.5631308168943, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 360.8565222055424, + 1102.5631308168943, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 360.8565222055424, + 1099.5631308168943, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 360.8565222055424, + 1096.5631308168943, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 360.8565222055424, + 1093.5631308168943, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 360.8565222055424, + 1090.5631308168943, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 360.8565222055424, + 1087.5631308168943, + 46.123756944884065 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 360.8565222055424, + 1084.5631308168943, + 46.123756944884065 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 356.0, + 1064.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-22-25_1780894828/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-22-25_1780894828/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc7c9a4fd680c6de81cec8810a8f8389751a2db2 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-22-25_1780894828/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2874.9444087275424, + -613.9758201326506, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2876.4444087275424, + -616.573896344004, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2877.9444087275424, + -619.1719725553573, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2879.4444087275424, + -621.7700487667107, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2880.9444087275424, + -624.3681249780641, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2882.4444087275424, + -626.9662011894175, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2883.9444087275424, + -629.5642774007708, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2885.4444087275424, + -632.1623536121242, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2886.9444087275424, + -634.7604298234776, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2888.4444087275424, + -637.358506034831, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2889.9444087275424, + -639.9565822461843, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2891.4444087275424, + -642.5546584575377, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2892.9444087275424, + -645.1527346688911, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2894.4444087275424, + -647.7508108802444, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2895.9444087275424, + -650.3488870915978, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2897.4444087275424, + -652.9469633029512, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2898.9444087275424, + -655.5450395143046, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2900.4444087275424, + -658.1431157256579, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2901.9444087275424, + -660.7411919370113, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2903.4444087275424, + -663.3392681483647, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2904.9444087275424, + -665.937344359718, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2906.4444087275424, + -668.5354205710714, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2907.9444087275424, + -671.1334967824248, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2909.4444087275424, + -673.7315729937782, + 66.7748247377599 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2909.4444087275424, + -673.7315729937782, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2912.0424849388955, + -675.2315729937782, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2914.6405611502487, + -676.7315729937782, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2917.238637361602, + -678.2315729937782, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2919.836713572955, + -679.7315729937782, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2922.434789784308, + -681.2315729937782, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2925.0328659956613, + -682.7315729937782, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2927.6309422070144, + -684.2315729937782, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2930.2290184183676, + -685.7315729937782, + 66.7748247377599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2932.8270946297207, + -687.2315729937782, + 66.7748247377599 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2964.0, + -728.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-24-28_1073485445/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-24-28_1073485445/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa49c3c1316e225e31ca94f301ab9843601bd987 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-24-28_1073485445/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1268.9587532631365, + 2003.9889966761793, + 63.613169313897174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1268.9587532631365, + 2006.9889966761793, + 63.613169313897174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1268.9587532631365, + 2009.9889966761793, + 63.613169313897174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1268.9587532631365, + 2012.9889966761793, + 63.613169313897174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1268.9587532631365, + 2015.9889966761793, + 63.613169313897174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1268.9587532631365, + 2018.9889966761793, + 63.613169313897174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1268.9587532631365, + 2021.9889966761793, + 63.613169313897174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1268.9587532631365, + 2024.9889966761793, + 63.613169313897174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1268.9587532631365, + 2027.9889966761793, + 63.613169313897174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1268.9587532631365, + 2030.9889966761793, + 63.613169313897174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1268.9587532631365, + 2033.9889966761793, + 63.613169313897174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1268.9587532631365, + 2036.9889966761793, + 63.613169313897174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1268.9587532631365, + 2039.9889966761793, + 63.613169313897174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1268.9587532631365, + 2042.9889966761793, + 63.613169313897174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1268.9587532631365, + 2045.9889966761793, + 63.613169313897174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1268.9587532631365, + 2048.9889966761793, + 63.613169313897174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1268.9587532631365, + 2051.9889966761793, + 63.613169313897174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1268.9587532631365, + 2054.9889966761793, + 63.613169313897174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1268.9587532631365, + 2057.9889966761793, + 63.613169313897174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1268.9587532631365, + 2060.9889966761793, + 63.613169313897174 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1264.0, + 2148.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-25-45_1588673369/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-25-45_1588673369/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f5ba73d7545f701d3cb0b2ddec88c3330f8dfee --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-25-45_1588673369/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3751.336202241929, + 483.47226718033244, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3752.836202241929, + 480.8741909689791, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3754.336202241929, + 478.2761147576258, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3755.836202241929, + 475.6780385462725, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3757.336202241929, + 473.0799623349192, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3758.836202241929, + 470.48188612356586, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3760.336202241929, + 467.88380991221254, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3761.836202241929, + 465.2857337008592, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3763.336202241929, + 462.6876574895059, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3764.836202241929, + 460.0895812781526, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3766.336202241929, + 457.4915050667993, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3767.836202241929, + 454.89342885544596, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3769.336202241929, + 452.29535264409265, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3770.836202241929, + 449.69727643273933, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3772.336202241929, + 447.099200221386, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3773.836202241929, + 444.5011240100327, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3775.336202241929, + 441.9030477986794, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3776.836202241929, + 439.30497158732607, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3778.336202241929, + 436.70689537597275, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3779.836202241929, + 434.10881916461943, + 52.25330979674962 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3779.836202241929, + 434.10881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3782.4342784532823, + 432.60881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3785.0323546646355, + 431.10881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3787.6304308759886, + 429.60881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3790.2285070873418, + 428.10881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3792.826583298695, + 426.60881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3795.424659510048, + 425.10881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3798.022735721401, + 423.60881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3800.6208119327543, + 422.10881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3803.2188881441075, + 420.60881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3805.8169643554606, + 419.10881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3808.415040566814, + 417.60881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3811.013116778167, + 416.10881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3813.61119298952, + 414.60881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3816.209269200873, + 413.10881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3818.8073454122264, + 411.60881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3821.4054216235795, + 410.10881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3824.0034978349327, + 408.60881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3826.601574046286, + 407.10881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3829.199650257639, + 405.60881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3831.797726468992, + 404.10881916461943, + 52.25330979674962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3834.3958026803452, + 402.60881916461943, + 52.25330979674962 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3852.0, + 384.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-25-8_1389548121/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-25-8_1389548121/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b1028ccba0a606498d429f4063a3f225a55276d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-25-8_1389548121/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2385.1257176097024, + 370.77722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2388.1257176097024, + 370.77722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2391.1257176097024, + 370.77722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2394.1257176097024, + 370.77722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2397.1257176097024, + 370.77722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2400.1257176097024, + 370.77722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2403.1257176097024, + 370.77722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2406.1257176097024, + 370.77722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2409.1257176097024, + 370.77722827447786, + 55.79484498695227 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2409.1257176097024, + 370.77722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2411.7237938210556, + 369.27722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2414.3218700324087, + 367.77722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2416.919946243762, + 366.27722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2419.518022455115, + 364.77722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2422.116098666468, + 363.27722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2424.7141748778213, + 361.77722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2427.3122510891744, + 360.27722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2429.9103273005276, + 358.77722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2432.5084035118807, + 357.27722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2435.106479723234, + 355.77722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2437.704555934587, + 354.27722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2440.30263214594, + 352.77722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2442.9007083572933, + 351.27722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2445.4987845686464, + 349.77722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2448.0968607799996, + 348.27722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2450.6949369913527, + 346.77722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2453.293013202706, + 345.27722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2455.891089414059, + 343.77722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2458.489165625412, + 342.27722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2461.0872418367653, + 340.77722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2463.6853180481185, + 339.27722827447786, + 55.79484498695227 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2463.6853180481185, + 339.27722827447786, + 55.79484498695227 + ], + "type": "go straight", + "value": 3, + "yaw": -2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2466.6853180481185, + 339.27722827447786, + 55.79484498695227 + ], + "type": "stop", + "value": 0, + "yaw": -2.842170943040401e-14 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2480.0, + 336.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-27-53_2101913295/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-27-53_2101913295/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..560f6800523e20cf2c8e670c984d211e49ddedbb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-27-53_2101913295/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1868.907515723148, + 371.5875734197652, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1870.407515723148, + 374.1856496311185, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1871.907515723148, + 376.7837258424718, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1873.407515723148, + 379.38180205382514, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1874.907515723148, + 381.97987826517846, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1876.407515723148, + 384.5779544765318, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1877.907515723148, + 387.1760306878851, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1879.407515723148, + 389.7741068992384, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1880.907515723148, + 392.3721831105917, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1882.407515723148, + 394.97025932194504, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1883.907515723148, + 397.56833553329835, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1885.407515723148, + 400.16641174465167, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1886.907515723148, + 402.764487956005, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1888.407515723148, + 405.3625641673583, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1889.907515723148, + 407.9606403787116, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1891.407515723148, + 410.55871659006493, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1892.907515723148, + 413.15679280141825, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1894.407515723148, + 415.75486901277156, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1895.907515723148, + 418.3529452241249, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1897.407515723148, + 420.9510214354782, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1898.907515723148, + 423.5490976468315, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1900.407515723148, + 426.14717385818483, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1901.907515723148, + 428.74525006953814, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1903.407515723148, + 431.34332628089146, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1904.907515723148, + 433.9414024922448, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1906.407515723148, + 436.5394787035981, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1907.907515723148, + 439.1375549149514, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1909.407515723148, + 441.7356311263047, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1910.907515723148, + 444.33370733765804, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1912.407515723148, + 446.93178354901136, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1913.907515723148, + 449.5298597603647, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1915.407515723148, + 452.127935971718, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1916.907515723148, + 454.7260121830713, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1918.407515723148, + 457.3240883944246, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1919.907515723148, + 459.92216460577794, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1921.407515723148, + 462.52024081713125, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1922.907515723148, + 465.11831702848457, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1924.407515723148, + 467.7163932398379, + 56.41406261841994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1925.907515723148, + 470.3144694511912, + 56.41406261841994 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1940.0, + 488.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-3-46_2050211136/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-3-46_2050211136/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1487150bf68bc0a3ac188074f9ae4e8b21aff3c4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-3-46_2050211136/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2982.3210092977024, + -2066.70133850012, + 68.05891933673828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2983.8210092977024, + -2069.299414711473, + 68.05891933673828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2985.3210092977024, + -2071.8974909228264, + 68.05891933673828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2986.8210092977024, + -2074.4955671341795, + 68.05891933673828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2988.3210092977024, + -2077.0936433455327, + 68.05891933673828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2989.8210092977024, + -2079.691719556886, + 68.05891933673828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2991.3210092977024, + -2082.289795768239, + 68.05891933673828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2992.8210092977024, + -2084.887871979592, + 68.05891933673828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2994.3210092977024, + -2087.4859481909452, + 68.05891933673828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2995.8210092977024, + -2090.0840244022984, + 68.05891933673828 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2997.3210092977024, + -2092.6821006136515, + 68.05891933673828 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2997.3210092977024, + -2092.6821006136515, + 68.05891933673828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2997.3210092977024, + -2095.6821006136515, + 68.05891933673828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2997.3210092977024, + -2098.6821006136515, + 68.05891933673828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2997.3210092977024, + -2101.6821006136515, + 68.05891933673828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2997.3210092977024, + -2104.6821006136515, + 68.05891933673828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2997.3210092977024, + -2107.6821006136515, + 68.05891933673828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2997.3210092977024, + -2110.6821006136515, + 68.05891933673828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2997.3210092977024, + -2113.6821006136515, + 68.05891933673828 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2997.3210092977024, + -2116.6821006136515, + 68.05891933673828 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3020.0, + -2200.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-32-0_278058814/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-32-0_278058814/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4cc0ee4267e2c78ebc3da61e2a47f00b1419ec95 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-32-0_278058814/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1027.760173907424, + 1960.40962785383, + 53.873645219857316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1029.260173907424, + 1963.0077040651834, + 53.873645219857316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1030.760173907424, + 1965.6057802765367, + 53.873645219857316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1032.260173907424, + 1968.20385648789, + 53.873645219857316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1033.760173907424, + 1970.8019326992435, + 53.873645219857316 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1035.260173907424, + 1973.4000089105969, + 53.873645219857316 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1035.260173907424, + 1973.4000089105969, + 53.873645219857316 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1037.8582501187773, + 1974.9000089105969, + 53.873645219857316 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1040.4563263301307, + 1976.4000089105969, + 53.873645219857316 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1043.054402541484, + 1977.9000089105969, + 53.873645219857316 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1045.6524787528374, + 1979.4000089105969, + 53.873645219857316 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1048.2505549641908, + 1980.9000089105969, + 53.873645219857316 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1050.8486311755441, + 1982.4000089105969, + 53.873645219857316 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1053.4467073868975, + 1983.9000089105969, + 53.873645219857316 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1056.044783598251, + 1985.4000089105969, + 53.873645219857316 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1058.6428598096043, + 1986.9000089105969, + 53.873645219857316 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1061.2409360209576, + 1988.4000089105969, + 53.873645219857316 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1063.839012232311, + 1989.9000089105969, + 53.873645219857316 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1066.4370884436644, + 1991.4000089105969, + 53.873645219857316 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1069.0351646550178, + 1992.9000089105969, + 53.873645219857316 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1071.6332408663711, + 1994.4000089105969, + 53.873645219857316 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1074.2313170777245, + 1995.9000089105969, + 53.873645219857316 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1132.0, + 2040.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-32-14_2084583195/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-32-14_2084583195/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81947e1c4543071def1d1ac6000587f37a61643e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-32-14_2084583195/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 396.9635207317291, + 532.4848161879277, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 394.3654445203758, + 530.9848161879277, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 391.76736830902246, + 529.4848161879277, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 389.16929209766914, + 527.9848161879277, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 386.5712158863158, + 526.4848161879277, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 383.9731396749625, + 524.9848161879277, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 381.3750634636092, + 523.4848161879277, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 378.7769872522559, + 521.9848161879277, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 376.17891104090256, + 520.4848161879277, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 373.58083482954925, + 518.9848161879277, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 370.98275861819593, + 517.4848161879277, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 368.3846824068426, + 515.9848161879277, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 365.7866061954893, + 514.4848161879277, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 363.188529984136, + 512.9848161879277, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 360.59045377278267, + 511.48481618792766, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 357.99237756142935, + 509.98481618792766, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 355.39430135007603, + 508.48481618792766, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 352.7962251387227, + 506.98481618792766, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 350.1981489273694, + 505.48481618792766, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 347.6000727160161, + 503.98481618792766, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 345.00199650466277, + 502.48481618792766, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 342.40392029330945, + 500.98481618792766, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 339.80584408195614, + 499.48481618792766, + 67.58295138189152 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 339.80584408195614, + 499.48481618792766, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 338.30584408195614, + 496.88673997657435, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 336.80584408195614, + 494.28866376522103, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 335.30584408195614, + 491.6905875538677, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 333.80584408195614, + 489.0925113425144, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 332.30584408195614, + 486.4944351311611, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 330.80584408195614, + 483.89635891980777, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 329.30584408195614, + 481.29828270845445, + 67.58295138189152 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 327.80584408195614, + 478.70020649710114, + 67.58295138189152 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 312.0, + 468.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-33-34_2069687307/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-33-34_2069687307/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c914ee4fa5271808c4e08cbfe491eeecd8eed71a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-33-34_2069687307/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2206.0440582445435, + -2315.848484841045, + 61.83060283105634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2203.0440582445435, + -2315.848484841045, + 61.83060283105634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2200.0440582445435, + -2315.848484841045, + 61.83060283105634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2197.0440582445435, + -2315.848484841045, + 61.83060283105634 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2197.0440582445435, + -2315.848484841045, + 61.83060283105634 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2197.0440582445435, + -2315.848484841045, + 61.83060283105634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2195.5440582445435, + -2318.446561052398, + 61.83060283105634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2194.0440582445435, + -2321.044637263751, + 61.83060283105634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2192.5440582445435, + -2323.6427134751043, + 61.83060283105634 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2192.5440582445435, + -2323.6427134751043, + 61.83060283105634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2189.9459820331904, + -2325.1427134751043, + 61.83060283105634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2187.3479058218372, + -2326.6427134751043, + 61.83060283105634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2184.749829610484, + -2328.1427134751043, + 61.83060283105634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2182.151753399131, + -2329.6427134751043, + 61.83060283105634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2179.553677187778, + -2331.1427134751043, + 61.83060283105634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2176.9556009764246, + -2332.6427134751043, + 61.83060283105634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2174.3575247650715, + -2334.1427134751043, + 61.83060283105634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2171.7594485537184, + -2335.6427134751043, + 61.83060283105634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2169.161372342365, + -2337.1427134751043, + 61.83060283105634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2166.563296131012, + -2338.6427134751043, + 61.83060283105634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2163.965219919659, + -2340.1427134751043, + 61.83060283105634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2161.367143708306, + -2341.6427134751043, + 61.83060283105634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2158.7690674969526, + -2343.1427134751043, + 61.83060283105634 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2096.0, + -2380.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-34-35_1168535013/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-34-35_1168535013/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f13e7d65be03207c76b42a842e088ceee79d96f3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-34-35_1168535013/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1434.2290274496847, + -2041.9442524146637, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1436.827103661038, + -2040.4442524146637, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1439.4251798723915, + -2038.9442524146637, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1442.0232560837449, + -2037.4442524146637, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1444.6213322950982, + -2035.9442524146637, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1447.2194085064516, + -2034.4442524146637, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1449.817484717805, + -2032.9442524146637, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1452.4155609291583, + -2031.4442524146637, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1455.0136371405117, + -2029.9442524146637, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1457.611713351865, + -2028.4442524146637, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1460.2097895632185, + -2026.9442524146637, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1462.8078657745718, + -2025.4442524146637, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1465.4059419859252, + -2023.9442524146637, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1468.0040181972786, + -2022.4442524146637, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1470.602094408632, + -2020.9442524146637, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1473.2001706199853, + -2019.4442524146637, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1475.7982468313387, + -2017.9442524146637, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1478.396323042692, + -2016.4442524146637, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1480.9943992540454, + -2014.9442524146637, + 58.49457986641441 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1480.9943992540454, + -2014.9442524146637, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1482.4943992540454, + -2012.3461762033103, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1483.9943992540454, + -2009.748099991957, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1485.4943992540454, + -2007.1500237806035, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1486.9943992540454, + -2004.5519475692502, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1488.4943992540454, + -2001.9538713578968, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1489.9943992540454, + -1999.3557951465434, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1491.4943992540454, + -1996.75771893519, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1492.9943992540454, + -1994.1596427238367, + 58.49457986641441 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1494.4943992540454, + -1991.5615665124833, + 58.49457986641441 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.0, + -1968.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-35-32_298200077/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-35-32_298200077/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..305e651bc01ea563440883e7d67d36dc821614d6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-35-32_298200077/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1476.1406622943246, + -354.8390270291361, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1477.6406622943246, + -352.2409508177828, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1479.1406622943246, + -349.6428746064295, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1480.6406622943246, + -347.04479839507616, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1482.1406622943246, + -344.44672218372284, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1483.6406622943246, + -341.8486459723695, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1485.1406622943246, + -339.2505697610162, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1486.6406622943246, + -336.6524935496629, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1488.1406622943246, + -334.0544173383096, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1489.6406622943246, + -331.45634112695626, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1491.1406622943246, + -328.85826491560294, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1492.6406622943246, + -326.26018870424963, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1494.1406622943246, + -323.6621124928963, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1495.6406622943246, + -321.064036281543, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1497.1406622943246, + -318.4659600701897, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1498.6406622943246, + -315.86788385883636, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1500.1406622943246, + -313.26980764748305, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1501.6406622943246, + -310.67173143612973, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1503.1406622943246, + -308.0736552247764, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1504.6406622943246, + -305.4755790134231, + 69.29199120938566 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1504.6406622943246, + -305.4755790134231, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1504.6406622943246, + -302.4755790134231, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1504.6406622943246, + -299.4755790134231, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1504.6406622943246, + -296.4755790134231, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1504.6406622943246, + -293.4755790134231, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1504.6406622943246, + -290.4755790134231, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1504.6406622943246, + -287.4755790134231, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1504.6406622943246, + -284.4755790134231, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1504.6406622943246, + -281.4755790134231, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1504.6406622943246, + -278.4755790134231, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1504.6406622943246, + -275.4755790134231, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1504.6406622943246, + -272.4755790134231, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1504.6406622943246, + -269.4755790134231, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1504.6406622943246, + -266.4755790134231, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1504.6406622943246, + -263.4755790134231, + 69.29199120938566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1504.6406622943246, + -260.4755790134231, + 69.29199120938566 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.0, + -216.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-38-1_289924554/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-38-1_289924554/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04f9e02c2ee8bff77978926b94406c0091363fb9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-38-1_289924554/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2601.449850881197, + 1589.3932980289435, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2604.449850881197, + 1589.3932980289435, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2607.449850881197, + 1589.3932980289435, + 45.408139924588696 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2607.449850881197, + 1589.3932980289435, + 45.408139924588696 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2607.449850881197, + 1589.3932980289435, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2608.949850881197, + 1591.9913742402969, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2610.449850881197, + 1594.5894504516502, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2611.949850881197, + 1597.1875266630036, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2613.449850881197, + 1599.785602874357, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2614.949850881197, + 1602.3836790857104, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2616.449850881197, + 1604.9817552970637, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2617.949850881197, + 1607.579831508417, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2619.449850881197, + 1610.1779077197705, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2620.949850881197, + 1612.7759839311238, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2622.449850881197, + 1615.3740601424772, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2623.949850881197, + 1617.9721363538306, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2625.449850881197, + 1620.570212565184, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2626.949850881197, + 1623.1682887765373, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2628.449850881197, + 1625.7663649878907, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2629.949850881197, + 1628.364441199244, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2631.449850881197, + 1630.9625174105975, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2632.949850881197, + 1633.5605936219508, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2634.449850881197, + 1636.1586698333042, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2635.949850881197, + 1638.7567460446576, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2637.449850881197, + 1641.354822256011, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2638.949850881197, + 1643.9528984673643, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2640.449850881197, + 1646.5509746787177, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2641.949850881197, + 1649.149050890071, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2643.449850881197, + 1651.7471271014244, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2644.949850881197, + 1654.3452033127778, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2646.449850881197, + 1656.9432795241312, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2647.949850881197, + 1659.5413557354846, + 45.408139924588696 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2647.949850881197, + 1659.5413557354846, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2650.5479270925503, + 1661.0413557354846, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2653.1460033039034, + 1662.5413557354846, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2655.7440795152565, + 1664.0413557354846, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2658.3421557266097, + 1665.5413557354846, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2660.940231937963, + 1667.0413557354846, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2663.538308149316, + 1668.5413557354846, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2666.136384360669, + 1670.0413557354846, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2668.7344605720223, + 1671.5413557354846, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2671.3325367833754, + 1673.0413557354846, + 45.408139924588696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2673.9306129947286, + 1674.5413557354846, + 45.408139924588696 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2696.0, + 1700.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-40-44_1459263904/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-40-44_1459263904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..342acffcc96fbe2635ee0350a7dbab2c6e558c14 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-40-44_1459263904/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 53.005725037026295, + -2229.0397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 50.40764882567298, + -2227.5397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 47.80957261431966, + -2226.0397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 45.21149640296635, + -2224.5397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 42.61342019161303, + -2223.0397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 40.015343980259715, + -2221.5397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 37.4172677689064, + -2220.0397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 34.81919155755308, + -2218.5397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 32.22111534619977, + -2217.0397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 29.62303913484645, + -2215.5397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 27.024962923493135, + -2214.0397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 24.42688671213982, + -2212.5397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 21.828810500786503, + -2211.0397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 19.230734289433187, + -2209.5397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 16.63265807807987, + -2208.0397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 14.034581866726555, + -2206.5397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 11.436505655373239, + -2205.0397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 8.838429444019923, + -2203.5397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 6.240353232666607, + -2202.0397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3.6422770213132907, + -2200.5397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1.0442008099599747, + -2199.0397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1.5538754013933413, + -2197.5397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -4.151951612746657, + -2196.0397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -6.750027824099973, + -2194.5397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -9.34810403545329, + -2193.0397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -11.946180246806605, + -2191.5397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -14.544256458159921, + -2190.0397657468293, + 66.02601546069272 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -14.544256458159921, + -2190.0397657468293, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -16.04425645815992, + -2187.441689535476, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -17.54425645815992, + -2184.843613324123, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -19.04425645815992, + -2182.24553711277, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -20.54425645815992, + -2179.6474609014167, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -22.04425645815992, + -2177.0493846900636, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -23.54425645815992, + -2174.4513084787104, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -25.04425645815992, + -2171.8532322673573, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -26.54425645815992, + -2169.255156056004, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -28.04425645815992, + -2166.657079844651, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -29.54425645815992, + -2164.059003633298, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -31.04425645815992, + -2161.4609274219447, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -32.54425645815992, + -2158.8628512105915, + 66.02601546069272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -34.04425645815992, + -2156.2647749992384, + 66.02601546069272 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -56.0, + -2136.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-41-31_612490591/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-41-31_612490591/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ce48c7cf38f033b7e32e71d2b0b31e6b6c0b65a4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-41-31_612490591/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4001.136892392183, + 2119.946567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4004.136892392183, + 2119.946567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4007.136892392183, + 2119.946567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4010.136892392183, + 2119.946567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4013.136892392183, + 2119.946567323577, + 58.717408045196464 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4013.136892392183, + 2119.946567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4015.7349686035363, + 2121.446567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4018.3330448148895, + 2122.946567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4020.9311210262426, + 2124.446567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4023.529197237596, + 2125.946567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4026.127273448949, + 2127.446567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4028.725349660302, + 2128.946567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4031.323425871655, + 2130.446567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4033.9215020830084, + 2131.946567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4036.5195782943615, + 2133.446567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4039.1176545057147, + 2134.946567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4041.715730717068, + 2136.446567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4044.313806928421, + 2137.946567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4046.911883139774, + 2139.446567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4049.5099593511272, + 2140.946567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4052.1080355624804, + 2142.446567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4054.7061117738335, + 2143.946567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4057.3041879851867, + 2145.446567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4059.90226419654, + 2146.946567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4062.500340407893, + 2148.446567323577, + 58.717408045196464 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4062.500340407893, + 2148.446567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4065.500340407893, + 2148.446567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4068.500340407893, + 2148.446567323577, + 58.717408045196464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4071.500340407893, + 2148.446567323577, + 58.717408045196464 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4124.0, + 2172.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-41-52_1733264227/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-41-52_1733264227/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e94356d520149b68f9c693cf941595e26d724d3e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-41-52_1733264227/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -166.74152377553546, + -2245.825064600962, + 51.75266832417702 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -163.74152377553546, + -2245.825064600962, + 51.75266832417702 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -160.74152377553546, + -2245.825064600962, + 51.75266832417702 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -157.74152377553546, + -2245.825064600962, + 51.75266832417702 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -154.74152377553546, + -2245.825064600962, + 51.75266832417702 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -151.74152377553546, + -2245.825064600962, + 51.75266832417702 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -148.74152377553546, + -2245.825064600962, + 51.75266832417702 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -145.74152377553546, + -2245.825064600962, + 51.75266832417702 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -142.74152377553546, + -2245.825064600962, + 51.75266832417702 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -139.74152377553546, + -2245.825064600962, + 51.75266832417702 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -136.74152377553546, + -2245.825064600962, + 51.75266832417702 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -133.74152377553546, + -2245.825064600962, + 51.75266832417702 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -130.74152377553546, + -2245.825064600962, + 51.75266832417702 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -127.74152377553546, + -2245.825064600962, + 51.75266832417702 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -127.74152377553546, + -2245.825064600962, + 51.75266832417702 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -125.14344756418214, + -2244.325064600962, + 51.75266832417702 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -122.54537135282882, + -2242.825064600962, + 51.75266832417702 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -24.0, + -2232.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-44-25_1386353914/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-44-25_1386353914/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5654f4ba299a0c4941d0d46a7e66b0be20f65ff5 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-44-25_1386353914/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1544.3113314029786, + 1827.7254361517591, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1541.7132551916252, + 1826.2254361517591, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1539.1151789802718, + 1824.7254361517591, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1536.5171027689184, + 1823.2254361517591, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1533.919026557565, + 1821.7254361517591, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1531.3209503462117, + 1820.2254361517591, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1528.7228741348583, + 1818.7254361517591, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1526.124797923505, + 1817.2254361517591, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1523.5267217121516, + 1815.7254361517591, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1520.9286455007982, + 1814.2254361517591, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1518.3305692894448, + 1812.7254361517591, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1515.7324930780915, + 1811.2254361517591, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1513.134416866738, + 1809.7254361517591, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1510.5363406553847, + 1808.2254361517591, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1507.9382644440313, + 1806.7254361517591, + 67.07500131357509 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1507.9382644440313, + 1806.7254361517591, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1506.4382644440313, + 1804.1273599404058, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1504.9382644440313, + 1801.5292837290524, + 67.07500131357509 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1504.9382644440313, + 1801.5292837290524, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1504.9382644440313, + 1798.5292837290524, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1504.9382644440313, + 1795.5292837290524, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1504.9382644440313, + 1792.5292837290524, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1504.9382644440313, + 1789.5292837290524, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1504.9382644440313, + 1786.5292837290524, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1504.9382644440313, + 1783.5292837290524, + 67.07500131357509 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1504.9382644440313, + 1783.5292837290524, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1506.4382644440313, + 1780.931207517699, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1507.9382644440313, + 1778.3331313063456, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1509.4382644440313, + 1775.7350550949923, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1510.9382644440313, + 1773.136978883639, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1512.4382644440313, + 1770.5389026722855, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1513.9382644440313, + 1767.9408264609322, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1515.4382644440313, + 1765.3427502495788, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1516.9382644440313, + 1762.7446740382254, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1518.4382644440313, + 1760.146597826872, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1519.9382644440313, + 1757.5485216155187, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1521.4382644440313, + 1754.9504454041653, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1522.9382644440313, + 1752.352369192812, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1524.4382644440313, + 1749.7542929814585, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1525.9382644440313, + 1747.1562167701052, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1527.4382644440313, + 1744.5581405587518, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1528.9382644440313, + 1741.9600643473984, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1530.4382644440313, + 1739.361988136045, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1531.9382644440313, + 1736.7639119246917, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1533.4382644440313, + 1734.1658357133383, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1534.9382644440313, + 1731.567759501985, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1536.4382644440313, + 1728.9696832906316, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1537.9382644440313, + 1726.3716070792782, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1539.4382644440313, + 1723.7735308679248, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1540.9382644440313, + 1721.1754546565714, + 67.07500131357509 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1542.4382644440313, + 1718.577378445218, + 67.07500131357509 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1540.0, + 1696.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-44-53_854047329/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-44-53_854047329/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e0ce2364ea2f22692e320acf202e23f79cb0fd53 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-44-53_854047329/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1593.908943967872, + 1823.652523274228, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1592.408943967872, + 1821.0544470628747, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1590.908943967872, + 1818.4563708515213, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1589.408943967872, + 1815.858294640168, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1587.908943967872, + 1813.2602184288146, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1586.408943967872, + 1810.6621422174612, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1584.908943967872, + 1808.0640660061079, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1583.408943967872, + 1805.4659897947545, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1581.908943967872, + 1802.867913583401, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1580.408943967872, + 1800.2698373720477, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1578.908943967872, + 1797.6717611606944, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1577.408943967872, + 1795.073684949341, + 45.32866375392736 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1577.408943967872, + 1795.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1577.408943967872, + 1792.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1577.408943967872, + 1789.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1577.408943967872, + 1786.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1577.408943967872, + 1783.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1577.408943967872, + 1780.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1577.408943967872, + 1777.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1577.408943967872, + 1774.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1577.408943967872, + 1771.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1577.408943967872, + 1768.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1577.408943967872, + 1765.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1577.408943967872, + 1762.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1577.408943967872, + 1759.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1577.408943967872, + 1756.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1577.408943967872, + 1753.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1577.408943967872, + 1750.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1577.408943967872, + 1747.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1577.408943967872, + 1744.073684949341, + 45.32866375392736 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1577.408943967872, + 1744.073684949341, + 45.32866375392736 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1577.408943967872, + 1744.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1574.8108677565185, + 1742.573684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1572.2127915451651, + 1741.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1569.6147153338118, + 1739.573684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1567.0166391224584, + 1738.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1564.418562911105, + 1736.573684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1561.8204866997517, + 1735.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1559.2224104883983, + 1733.573684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1556.624334277045, + 1732.073684949341, + 45.32866375392736 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1556.624334277045, + 1732.073684949341, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1555.124334277045, + 1729.4756087379876, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1553.624334277045, + 1726.8775325266342, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1552.124334277045, + 1724.2794563152809, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1550.624334277045, + 1721.6813801039275, + 45.32866375392736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1549.124334277045, + 1719.0833038925741, + 45.32866375392736 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1540.0, + 1696.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-46-44_705605356/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-46-44_705605356/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e0834cfd1978d6f3a271239d2cb53fbade6928e6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-46-44_705605356/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2913.387571771152, + 2118.787590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2910.789495559799, + 2117.287590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2908.191419348446, + 2115.787590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2905.5933431370927, + 2114.287590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2902.9952669257395, + 2112.787590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2900.3971907143864, + 2111.287590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2897.7991145030333, + 2109.787590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2895.20103829168, + 2108.287590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2892.602962080327, + 2106.787590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2890.004885868974, + 2105.287590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2887.4068096576207, + 2103.787590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2884.8087334462675, + 2102.287590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2882.2106572349144, + 2100.787590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2879.6125810235612, + 2099.287590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2877.014504812208, + 2097.787590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2874.416428600855, + 2096.287590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2871.818352389502, + 2094.787590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2869.2202761781487, + 2093.287590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2866.6221999667955, + 2091.787590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2864.0241237554424, + 2090.287590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2861.426047544089, + 2088.787590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2858.827971332736, + 2087.287590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2856.229895121383, + 2085.787590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2853.63181891003, + 2084.287590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2851.0337426986766, + 2082.787590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2848.4356664873235, + 2081.287590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2845.8375902759703, + 2079.787590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2843.239514064617, + 2078.287590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2840.641437853264, + 2076.787590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2838.043361641911, + 2075.287590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2835.4452854305578, + 2073.787590612565, + 53.3186287608832 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2835.4452854305578, + 2073.787590612565, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2833.9452854305578, + 2071.189514401212, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2832.4452854305578, + 2068.5914381898588, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2830.9452854305578, + 2065.9933619785056, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2829.4452854305578, + 2063.3952857671525, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2827.9452854305578, + 2060.7972095557993, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2826.4452854305578, + 2058.199133344446, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2824.9452854305578, + 2055.601057133093, + 53.3186287608832 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2823.4452854305578, + 2053.00298092174, + 53.3186287608832 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2796.0, + 2036.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-51-42_626138954/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-51-42_626138954/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..166f9de36989057e9881a71420d1a596747e4102 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-51-42_626138954/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2038.2627811811208, + 936.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2038.2627811811208, + 939.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2038.2627811811208, + 942.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2038.2627811811208, + 945.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2038.2627811811208, + 948.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2038.2627811811208, + 951.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2038.2627811811208, + 954.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2038.2627811811208, + 957.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2038.2627811811208, + 960.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2038.2627811811208, + 963.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2038.2627811811208, + 966.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2038.2627811811208, + 969.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2038.2627811811208, + 972.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2038.2627811811208, + 975.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2038.2627811811208, + 978.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2038.2627811811208, + 981.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2038.2627811811208, + 984.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2038.2627811811208, + 987.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2038.2627811811208, + 990.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2038.2627811811208, + 993.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2038.2627811811208, + 996.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2038.2627811811208, + 999.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2038.2627811811208, + 1002.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2038.2627811811208, + 1005.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2038.2627811811208, + 1008.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2038.2627811811208, + 1011.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2038.2627811811208, + 1014.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2038.2627811811208, + 1017.990214112953, + 64.94535997613372 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2038.2627811811208, + 1020.990214112953, + 64.94535997613372 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2040.0, + 1044.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-54-16_713194684/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-54-16_713194684/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a0f4383e609d8b2c68e9ef52fd523e60e3e7ffc3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-54-16_713194684/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -843.8484658642515, + 37.24779182550354, + 65.46522363851142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -840.8484658642515, + 37.24779182550354, + 65.46522363851142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -837.8484658642515, + 37.24779182550354, + 65.46522363851142 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -837.8484658642515, + 37.24779182550354, + 65.46522363851142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -835.2503896528981, + 38.74779182550354, + 65.46522363851142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -832.6523134415447, + 40.24779182550354, + 65.46522363851142 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -716.0, + 68.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-54-39_802438799/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-54-39_802438799/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dfac1bae869102a86c27e2554e81d013c60e9509 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-54-39_802438799/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1821.3851848455552, + 1051.0131640351856, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1823.9832610569085, + 1049.5131640351856, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1826.581337268262, + 1048.0131640351856, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1829.1794134796153, + 1046.5131640351856, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1831.7774896909687, + 1045.0131640351856, + 44.38715950406353 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1831.7774896909687, + 1045.0131640351856, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1834.7774896909687, + 1045.0131640351856, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1837.7774896909687, + 1045.0131640351856, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1840.7774896909687, + 1045.0131640351856, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1843.7774896909687, + 1045.0131640351856, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1846.7774896909687, + 1045.0131640351856, + 44.38715950406353 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1846.7774896909687, + 1045.0131640351856, + 44.38715950406353 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1846.7774896909687, + 1045.0131640351856, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1848.2774896909687, + 1042.4150878238322, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1849.7774896909687, + 1039.8170116124788, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1851.2774896909687, + 1037.2189354011255, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1852.7774896909687, + 1034.620859189772, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1854.2774896909687, + 1032.0227829784187, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1855.7774896909687, + 1029.4247067670653, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1857.2774896909687, + 1026.826630555712, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1858.7774896909687, + 1024.2285543443586, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1860.2774896909687, + 1021.6304781330052, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1861.7774896909687, + 1019.0324019216519, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1863.2774896909687, + 1016.4343257102985, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1864.7774896909687, + 1013.8362494989451, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1866.2774896909687, + 1011.2381732875917, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1867.7774896909687, + 1008.6400970762384, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1869.2774896909687, + 1006.042020864885, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1870.7774896909687, + 1003.4439446535316, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1872.2774896909687, + 1000.8458684421782, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1873.7774896909687, + 998.2477922308249, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1875.2774896909687, + 995.6497160194715, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1876.7774896909687, + 993.0516398081181, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1878.2774896909687, + 990.4535635967648, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1879.7774896909687, + 987.8554873854114, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1881.2774896909687, + 985.257411174058, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1882.7774896909687, + 982.6593349627046, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1884.2774896909687, + 980.0612587513513, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1885.7774896909687, + 977.4631825399979, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1887.2774896909687, + 974.8651063286445, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1888.7774896909687, + 972.2670301172911, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1890.2774896909687, + 969.6689539059378, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1891.7774896909687, + 967.0708776945844, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1893.2774896909687, + 964.472801483231, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1894.7774896909687, + 961.8747252718777, + 44.38715950406353 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1894.7774896909687, + 961.8747252718777, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1897.375565902322, + 960.3747252718777, + 44.38715950406353 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1899.9736421136754, + 958.8747252718777, + 44.38715950406353 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1916.0, + 940.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-55-49_1656486128/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-55-49_1656486128/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..054e8ac1544c4d3c4ded5c02397e6633337abb40 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-55-49_1656486128/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1433.0076184859126, + -939.0967688341556, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1433.0076184859126, + -942.0967688341556, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1433.0076184859126, + -945.0967688341556, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1433.0076184859126, + -948.0967688341556, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1433.0076184859126, + -951.0967688341556, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1433.0076184859126, + -954.0967688341556, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1433.0076184859126, + -957.0967688341556, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1433.0076184859126, + -960.0967688341556, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1433.0076184859126, + -963.0967688341556, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1433.0076184859126, + -966.0967688341556, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1433.0076184859126, + -969.0967688341556, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1433.0076184859126, + -972.0967688341556, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1433.0076184859126, + -975.0967688341556, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1433.0076184859126, + -978.0967688341556, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1433.0076184859126, + -981.0967688341556, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1433.0076184859126, + -984.0967688341556, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1433.0076184859126, + -987.0967688341556, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1433.0076184859126, + -990.0967688341556, + 64.99396276935312 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1433.0076184859126, + -990.0967688341556, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1434.5076184859126, + -992.6948450455088, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1436.0076184859126, + -995.2929212568622, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1437.5076184859126, + -997.8909974682156, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1439.0076184859126, + -1000.489073679569, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1440.5076184859126, + -1003.0871498909223, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1442.0076184859126, + -1005.6852261022757, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1443.5076184859126, + -1008.2833023136291, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1445.0076184859126, + -1010.8813785249824, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1446.5076184859126, + -1013.4794547363358, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1448.0076184859126, + -1016.0775309476892, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1449.5076184859126, + -1018.6756071590426, + 64.99396276935312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1451.0076184859126, + -1021.2736833703959, + 64.99396276935312 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1460.0, + -1056.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-6-24_1028676782/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-6-24_1028676782/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..03b0546ec5cd4ad6ff126571f54b21d27510731f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-6-24_1028676782/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -471.20441272357806, + 95.11944146354679, + 63.653574939629166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -472.70441272357806, + 97.71751767490011, + 63.653574939629166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -474.20441272357806, + 100.31559388625342, + 63.653574939629166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -475.70441272357806, + 102.91367009760674, + 63.653574939629166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -477.20441272357806, + 105.51174630896006, + 63.653574939629166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -478.70441272357806, + 108.10982252031337, + 63.653574939629166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -480.20441272357806, + 110.70789873166669, + 63.653574939629166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -481.70441272357806, + 113.30597494302, + 63.653574939629166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -483.20441272357806, + 115.90405115437332, + 63.653574939629166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -484.70441272357806, + 118.50212736572664, + 63.653574939629166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -486.20441272357806, + 121.10020357707995, + 63.653574939629166 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -532.0, + 200.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-7-9_761267672/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-7-9_761267672/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ed4e85cba2a4e2f4e1bf6cbcbde5c6316d27e042 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-7-9_761267672/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -170.10888315356794, + -2165.0486334358407, + 57.00949825985183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -167.10888315356794, + -2165.0486334358407, + 57.00949825985183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -164.10888315356794, + -2165.0486334358407, + 57.00949825985183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -161.10888315356794, + -2165.0486334358407, + 57.00949825985183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -158.10888315356794, + -2165.0486334358407, + 57.00949825985183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -155.10888315356794, + -2165.0486334358407, + 57.00949825985183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -152.10888315356794, + -2165.0486334358407, + 57.00949825985183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -149.10888315356794, + -2165.0486334358407, + 57.00949825985183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -146.10888315356794, + -2165.0486334358407, + 57.00949825985183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -143.10888315356794, + -2165.0486334358407, + 57.00949825985183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -140.10888315356794, + -2165.0486334358407, + 57.00949825985183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -137.10888315356794, + -2165.0486334358407, + 57.00949825985183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -134.10888315356794, + -2165.0486334358407, + 57.00949825985183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -131.10888315356794, + -2165.0486334358407, + 57.00949825985183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -128.10888315356794, + -2165.0486334358407, + 57.00949825985183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -125.10888315356794, + -2165.0486334358407, + 57.00949825985183 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -122.10888315356794, + -2165.0486334358407, + 57.00949825985183 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -122.10888315356794, + -2165.0486334358407, + 57.00949825985183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -119.51080694221463, + -2166.5486334358407, + 57.00949825985183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -116.91273073086131, + -2168.0486334358407, + 57.00949825985183 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -114.314654519508, + -2169.5486334358407, + 57.00949825985183 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -48.0, + -2180.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-9-25_925357509/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-9-25_925357509/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef6608a50af01bf758d5fec940b0def518045ba9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_11-9-25_925357509/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1220.9868231177013, + -1408.957464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1218.388746906348, + -1410.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1215.7906706949946, + -1411.957464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1213.1925944836412, + -1413.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1210.5945182722878, + -1414.957464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1207.9964420609344, + -1416.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1205.398365849581, + -1417.957464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1202.8002896382277, + -1419.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1200.2022134268743, + -1420.957464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1197.604137215521, + -1422.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1195.0060610041676, + -1423.957464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1192.4079847928142, + -1425.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1189.8099085814608, + -1426.957464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1187.2118323701075, + -1428.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1184.613756158754, + -1429.957464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1182.0156799474007, + -1431.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1179.4176037360473, + -1432.957464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1176.819527524694, + -1434.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1174.2214513133406, + -1435.957464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1171.6233751019872, + -1437.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1169.0252988906338, + -1438.957464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1166.4272226792805, + -1440.457464732793, + 54.64747680024777 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1166.4272226792805, + -1440.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1163.4272226792805, + -1440.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1160.4272226792805, + -1440.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1157.4272226792805, + -1440.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1154.4272226792805, + -1440.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1151.4272226792805, + -1440.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1148.4272226792805, + -1440.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1145.4272226792805, + -1440.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1142.4272226792805, + -1440.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1139.4272226792805, + -1440.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1136.4272226792805, + -1440.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1133.4272226792805, + -1440.457464732793, + 54.64747680024777 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1133.4272226792805, + -1440.457464732793, + 54.64747680024777 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1133.4272226792805, + -1440.457464732793, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1131.9272226792805, + -1443.0555409441463, + 54.64747680024777 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1130.4272226792805, + -1445.6536171554997, + 54.64747680024777 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1092.0, + -1460.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-0-47_1858348129/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-0-47_1858348129/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ebd24971b1fe31ebf5d635d586b0dacdd149231c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-0-47_1858348129/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 670.750264631168, + 306.71241921599307, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 669.250264631168, + 304.11434300463975, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 667.750264631168, + 301.51626679328643, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 666.250264631168, + 298.9181905819331, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 664.750264631168, + 296.3201143705798, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 663.250264631168, + 293.7220381592265, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 661.750264631168, + 291.12396194787317, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 660.250264631168, + 288.52588573651985, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 658.750264631168, + 285.92780952516654, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 657.250264631168, + 283.3297333138132, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 655.750264631168, + 280.7316571024599, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 654.250264631168, + 278.1335808911066, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 652.750264631168, + 275.5355046797533, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 651.250264631168, + 272.93742846839996, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 649.750264631168, + 270.33935225704664, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 648.250264631168, + 267.7412760456933, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 646.750264631168, + 265.14319983434, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 645.250264631168, + 262.5451236229867, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 643.750264631168, + 259.9470474116334, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 642.250264631168, + 257.34897120028006, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 640.750264631168, + 254.75089498892675, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 639.250264631168, + 252.15281877757343, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 637.750264631168, + 249.5547425662201, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 636.250264631168, + 246.9566663548668, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 634.750264631168, + 244.35859014351348, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 633.250264631168, + 241.76051393216017, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 631.750264631168, + 239.16243772080685, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 630.250264631168, + 236.56436150945353, + 67.03585851839503 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 630.250264631168, + 236.56436150945353, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 630.250264631168, + 233.56436150945353, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 630.250264631168, + 230.56436150945353, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 630.250264631168, + 227.56436150945353, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 630.250264631168, + 224.56436150945353, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 630.250264631168, + 221.56436150945353, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 630.250264631168, + 218.56436150945353, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 630.250264631168, + 215.56436150945353, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 630.250264631168, + 212.56436150945353, + 67.03585851839503 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 630.250264631168, + 209.56436150945353, + 67.03585851839503 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 620.0, + 184.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-1-30_2074941497/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-1-30_2074941497/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f59a094f249a44d850672d7ba39795c6eda5f66d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-1-30_2074941497/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1807.8548187539946, + 294.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1804.8548187539946, + 294.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1801.8548187539946, + 294.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1798.8548187539946, + 294.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1795.8548187539946, + 294.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1792.8548187539946, + 294.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1789.8548187539946, + 294.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1786.8548187539946, + 294.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1783.8548187539946, + 294.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1780.8548187539946, + 294.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1777.8548187539946, + 294.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1774.8548187539946, + 294.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1771.8548187539946, + 294.6290953912599, + 40.88565487452861 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1771.8548187539946, + 294.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1769.2567425426412, + 296.1290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1766.6586663312878, + 297.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1764.0605901199344, + 299.1290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1761.462513908581, + 300.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1758.8644376972277, + 302.1290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1756.2663614858743, + 303.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1753.668285274521, + 305.1290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1751.0702090631676, + 306.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1748.4721328518142, + 308.1290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1745.8740566404608, + 309.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1743.2759804291074, + 311.1290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1740.677904217754, + 312.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1738.0798280064007, + 314.1290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1735.4817517950473, + 315.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1732.883675583694, + 317.1290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1730.2855993723406, + 318.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1727.6875231609872, + 320.1290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1725.0894469496338, + 321.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1722.4913707382805, + 323.1290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1719.893294526927, + 324.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1717.2952183155737, + 326.1290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1714.6971421042203, + 327.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1712.099065892867, + 329.1290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1709.5009896815136, + 330.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1706.9029134701602, + 332.1290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1704.3048372588069, + 333.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1701.7067610474535, + 335.1290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1699.1086848361, + 336.6290953912599, + 40.88565487452861 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1696.5106086247467, + 338.1290953912599, + 40.88565487452861 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1676.0, + 344.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-10-53_1588677538/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-10-53_1588677538/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d12ff5da3b27fda78d7ea05488ab1d495888ca2f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-10-53_1588677538/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1581.6630078856435, + 395.3752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1584.261084096997, + 393.8752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1586.8591603083503, + 392.3752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1589.4572365197037, + 390.8752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1592.055312731057, + 389.3752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1594.6533889424104, + 387.8752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1597.2514651537638, + 386.3752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1599.8495413651171, + 384.8752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1602.4476175764705, + 383.3752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1605.045693787824, + 381.8752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1607.6437699991773, + 380.3752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1610.2418462105306, + 378.8752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1612.839922421884, + 377.3752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1615.4379986332374, + 375.8752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1618.0360748445908, + 374.3752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1620.6341510559441, + 372.8752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1623.2322272672975, + 371.3752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1625.8303034786509, + 369.8752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1628.4283796900042, + 368.3752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1631.0264559013576, + 366.8752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1633.624532112711, + 365.3752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1636.2226083240644, + 363.8752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1638.8206845354177, + 362.3752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1641.418760746771, + 360.8752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1644.0168369581245, + 359.3752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1646.6149131694779, + 357.8752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1649.2129893808312, + 356.3752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1651.8110655921846, + 354.8752753554085, + 69.5412764451351 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1651.8110655921846, + 354.8752753554085, + 69.5412764451351 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1654.8110655921846, + 354.8752753554085, + 69.5412764451351 + ], + "type": "stop", + "value": 0, + "yaw": -3.1415926535898024 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1676.0, + 344.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-11-12_745863593/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-11-12_745863593/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..75d584e5cd096eb65e0e77a41940507bca245820 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-11-12_745863593/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2664.6460153747653, + 1108.515689087839, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2661.6460153747653, + 1108.515689087839, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2658.6460153747653, + 1108.515689087839, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2655.6460153747653, + 1108.515689087839, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2652.6460153747653, + 1108.515689087839, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2649.6460153747653, + 1108.515689087839, + 44.92403390763496 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2649.6460153747653, + 1108.515689087839, + 44.92403390763496 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2649.6460153747653, + 1108.515689087839, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2648.1460153747653, + 1105.9176128764857, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2646.6460153747653, + 1103.3195366651323, + 44.92403390763496 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2646.6460153747653, + 1103.3195366651323, + 44.92403390763496 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2646.6460153747653, + 1103.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": -9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2643.6460153747653, + 1103.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2640.6460153747653, + 1103.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2637.6460153747653, + 1103.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2634.6460153747653, + 1103.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2631.6460153747653, + 1103.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2628.6460153747653, + 1103.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2625.6460153747653, + 1103.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2622.6460153747653, + 1103.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2619.6460153747653, + 1103.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2616.6460153747653, + 1103.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2613.6460153747653, + 1103.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2610.6460153747653, + 1103.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2607.6460153747653, + 1103.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2604.6460153747653, + 1103.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2601.6460153747653, + 1103.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2598.6460153747653, + 1103.3195366651323, + 44.92403390763496 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2598.6460153747653, + 1103.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2596.047939163412, + 1104.8195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2593.449862952059, + 1106.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2590.851786740706, + 1107.8195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2588.2537105293527, + 1109.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2585.6556343179996, + 1110.8195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2583.0575581066464, + 1112.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2580.4594818952933, + 1113.8195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2577.86140568394, + 1115.3195366651323, + 44.92403390763496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2575.263329472587, + 1116.8195366651323, + 44.92403390763496 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2552.0, + 1120.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-11-50_825060319/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-11-50_825060319/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d098f4d37b71ba4b7a5579534f83f88356fd67d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-11-50_825060319/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2172.5126777752507, + -333.86951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2175.110753986604, + -332.36951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2177.708830197957, + -330.86951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2180.30690640931, + -329.36951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2182.9049826206633, + -327.86951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2185.5030588320164, + -326.36951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2188.1011350433696, + -324.86951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2190.6992112547227, + -323.36951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2193.297287466076, + -321.86951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2195.895363677429, + -320.36951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2198.493439888782, + -318.86951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2201.0915161001353, + -317.36951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2203.6895923114885, + -315.86951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2206.2876685228416, + -314.36951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2208.8857447341948, + -312.86951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2211.483820945548, + -311.36951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2214.081897156901, + -309.86951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2216.679973368254, + -308.36951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2219.2780495796073, + -306.86951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2221.8761257909605, + -305.36951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2224.4742020023136, + -303.86951585611723, + 41.84280812889664 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2224.4742020023136, + -303.86951585611723, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2225.9742020023136, + -301.2714396447639, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2227.4742020023136, + -298.6733634334106, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2228.9742020023136, + -296.0752872220573, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2230.4742020023136, + -293.47721101070397, + 41.84280812889664 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2231.9742020023136, + -290.87913479935065, + 41.84280812889664 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2260.0, + -268.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-12-8_673321442/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-12-8_673321442/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec3c41c14fbc9cb2c9016fa58bfde1dc1a916973 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-12-8_673321442/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 975.7377080268124, + 265.28414498163727, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 974.2377080268124, + 267.8822211929906, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 972.7377080268124, + 270.4802974043439, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 971.2377080268124, + 273.0783736156972, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 969.7377080268124, + 275.67644982705053, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 968.2377080268124, + 278.27452603840385, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 966.7377080268124, + 280.87260224975716, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 965.2377080268124, + 283.4706784611105, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 963.7377080268124, + 286.0687546724638, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 962.2377080268124, + 288.6668308838171, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 960.7377080268124, + 291.26490709517043, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 959.2377080268124, + 293.86298330652374, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 957.7377080268124, + 296.46105951787706, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 956.2377080268124, + 299.0591357292304, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 954.7377080268124, + 301.6572119405837, + 52.17826926357408 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 954.7377080268124, + 301.6572119405837, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 952.1396318154591, + 303.1572119405837, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 949.5415556041057, + 304.6572119405837, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 946.9434793927524, + 306.1572119405837, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 944.345403181399, + 307.6572119405837, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 941.7473269700456, + 309.1572119405837, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 939.1492507586922, + 310.6572119405837, + 52.17826926357408 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 936.5511745473389, + 312.1572119405837, + 52.17826926357408 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 904.0, + 356.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-16-59_901482438/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-16-59_901482438/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..184f2972b8d64860e3375b850cef92abe52bd1e2 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-16-59_901482438/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2829.35553203628, + 899.4900673054632, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2827.85553203628, + 902.0881435168164, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2826.35553203628, + 904.6862197281698, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2824.85553203628, + 907.2842959395232, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2823.35553203628, + 909.8823721508766, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2821.85553203628, + 912.4804483622299, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2820.35553203628, + 915.0785245735833, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2818.85553203628, + 917.6766007849367, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2817.35553203628, + 920.27467699629, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2815.85553203628, + 922.8727532076434, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2814.35553203628, + 925.4708294189968, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2812.85553203628, + 928.0689056303502, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2811.35553203628, + 930.6669818417035, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2809.85553203628, + 933.2650580530569, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2808.35553203628, + 935.8631342644103, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2806.85553203628, + 938.4612104757637, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2805.35553203628, + 941.059286687117, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2803.85553203628, + 943.6573628984704, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2802.35553203628, + 946.2554391098238, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2800.85553203628, + 948.8535153211772, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2799.35553203628, + 951.4515915325305, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2797.85553203628, + 954.0496677438839, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2796.35553203628, + 956.6477439552373, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2794.85553203628, + 959.2458201665906, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2793.35553203628, + 961.843896377944, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2791.85553203628, + 964.4419725892974, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2790.35553203628, + 967.0400488006508, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2788.85553203628, + 969.6381250120041, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2787.35553203628, + 972.2362012233575, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2785.85553203628, + 974.8342774347109, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2784.35553203628, + 977.4323536460643, + 49.72766412772414 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2784.35553203628, + 977.4323536460643, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2784.35553203628, + 980.4323536460643, + 49.72766412772414 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2784.35553203628, + 983.4323536460643, + 49.72766412772414 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2768.0, + 1016.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-19-8_1032113190/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-19-8_1032113190/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd88049e5e0da5b82a546d993c0afc537865f341 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-19-8_1032113190/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2897.9564957599823, + -2565.0915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2900.5545719713355, + -2563.5915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2903.1526481826886, + -2562.0915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2905.7507243940418, + -2560.5915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2908.348800605395, + -2559.0915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2910.946876816748, + -2557.5915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2913.544953028101, + -2556.0915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2916.1430292394543, + -2554.5915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2918.7411054508075, + -2553.0915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2921.3391816621606, + -2551.5915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2923.9372578735138, + -2550.0915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2926.535334084867, + -2548.5915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2929.13341029622, + -2547.0915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2931.731486507573, + -2545.5915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2934.3295627189264, + -2544.0915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2936.9276389302795, + -2542.5915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2939.5257151416326, + -2541.0915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2942.123791352986, + -2539.5915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2944.721867564339, + -2538.0915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2947.319943775692, + -2536.5915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2949.9180199870452, + -2535.0915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2952.5160961983984, + -2533.5915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2955.1141724097515, + -2532.0915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2957.7122486211047, + -2530.5915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2960.310324832458, + -2529.0915488638902, + 54.100767117209045 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2960.310324832458, + -2529.0915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2963.310324832458, + -2529.0915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2966.310324832458, + -2529.0915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2969.310324832458, + -2529.0915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2972.310324832458, + -2529.0915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2975.310324832458, + -2529.0915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2978.310324832458, + -2529.0915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2981.310324832458, + -2529.0915488638902, + 54.100767117209045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2984.310324832458, + -2529.0915488638902, + 54.100767117209045 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3012.0, + -2520.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-21-36_1233214779/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-21-36_1233214779/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4fde8a64d49be9a787c6f453909f605d309514bc --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-21-36_1233214779/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1329.460349049915, + -2207.1665052164685, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1327.960349049915, + -2204.5684290051154, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1326.460349049915, + -2201.9703527937622, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1324.960349049915, + -2199.372276582409, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1323.460349049915, + -2196.774200371056, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1321.960349049915, + -2194.176124159703, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1320.460349049915, + -2191.5780479483496, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1318.960349049915, + -2188.9799717369965, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1317.460349049915, + -2186.3818955256434, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1315.960349049915, + -2183.78381931429, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1314.460349049915, + -2181.185743102937, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1312.960349049915, + -2178.587666891584, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1311.460349049915, + -2175.989590680231, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1309.960349049915, + -2173.3915144688776, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1308.460349049915, + -2170.7934382575245, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1306.960349049915, + -2168.1953620461713, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1305.460349049915, + -2165.597285834818, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1303.960349049915, + -2162.999209623465, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1302.460349049915, + -2160.401133412112, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1300.960349049915, + -2157.8030572007588, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1299.460349049915, + -2155.2049809894056, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1297.960349049915, + -2152.6069047780525, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1296.460349049915, + -2150.0088285666993, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1294.960349049915, + -2147.410752355346, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1293.460349049915, + -2144.812676143993, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1291.960349049915, + -2142.21459993264, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1290.460349049915, + -2139.6165237212867, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1288.960349049915, + -2137.0184475099336, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1287.460349049915, + -2134.4203712985804, + 67.25257861012321 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1287.460349049915, + -2134.4203712985804, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794925 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1287.460349049915, + -2131.4203712985804, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1287.460349049915, + -2128.4203712985804, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1287.460349049915, + -2125.4203712985804, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1287.460349049915, + -2122.4203712985804, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1287.460349049915, + -2119.4203712985804, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1287.460349049915, + -2116.4203712985804, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1287.460349049915, + -2113.4203712985804, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1287.460349049915, + -2110.4203712985804, + 67.25257861012321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1287.460349049915, + -2107.4203712985804, + 67.25257861012321 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1280.0, + -2088.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-23-31_985970818/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-23-31_985970818/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa5248e0d7f78cd841ec554af3761a8cbfe784f1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-23-31_985970818/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1813.9852031200771, + -2391.005109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1816.5832793314305, + -2392.505109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1819.1813555427839, + -2394.005109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1821.7794317541372, + -2395.505109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1824.3775079654906, + -2397.005109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1826.975584176844, + -2398.505109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1829.5736603881974, + -2400.005109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1832.1717365995507, + -2401.505109164966, + 53.056327114032385 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1832.1717365995507, + -2401.505109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1835.1717365995507, + -2401.505109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1838.1717365995507, + -2401.505109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1841.1717365995507, + -2401.505109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1844.1717365995507, + -2401.505109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1847.1717365995507, + -2401.505109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1850.1717365995507, + -2401.505109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1853.1717365995507, + -2401.505109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1856.1717365995507, + -2401.505109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1859.1717365995507, + -2401.505109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1862.1717365995507, + -2401.505109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1865.1717365995507, + -2401.505109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1868.1717365995507, + -2401.505109164966, + 53.056327114032385 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1868.1717365995507, + -2401.505109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1870.7698128109041, + -2403.005109164966, + 53.056327114032385 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1870.7698128109041, + -2403.005109164966, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1872.2698128109041, + -2405.6031853763193, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1873.7698128109041, + -2408.2012615876724, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1875.2698128109041, + -2410.7993377990256, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1876.7698128109041, + -2413.3974140103787, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1878.2698128109041, + -2415.995490221732, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1879.7698128109041, + -2418.593566433085, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1881.2698128109041, + -2421.191642644438, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1882.7698128109041, + -2423.7897188557913, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1884.2698128109041, + -2426.3877950671445, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1885.7698128109041, + -2428.9858712784976, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1887.2698128109041, + -2431.5839474898507, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1888.7698128109041, + -2434.182023701204, + 53.056327114032385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1890.2698128109041, + -2436.780099912557, + 53.056327114032385 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1908.0, + -2448.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-25-55_680753219/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-25-55_680753219/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93634e0ad2a609c720b4c379bf5ec510891a21df --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-25-55_680753219/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4845.516208664699, + 915.8690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4842.516208664699, + 915.8690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4839.516208664699, + 915.8690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4836.516208664699, + 915.8690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4833.516208664699, + 915.8690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4830.516208664699, + 915.8690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4827.516208664699, + 915.8690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4824.516208664699, + 915.8690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4821.516208664699, + 915.8690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4818.516208664699, + 915.8690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4815.516208664699, + 915.8690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4812.516208664699, + 915.8690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4809.516208664699, + 915.8690362771536, + 65.16861674493528 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4809.516208664699, + 915.8690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4806.918132453346, + 917.3690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4804.3200562419925, + 918.8690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4801.721980030639, + 920.3690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4799.123903819286, + 921.8690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4796.525827607933, + 923.3690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4793.92775139658, + 924.8690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4791.329675185227, + 926.3690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4788.731598973874, + 927.8690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4786.13352276252, + 929.3690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4783.535446551167, + 930.8690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4780.937370339814, + 932.3690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4778.339294128461, + 933.8690362771536, + 65.16861674493528 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4775.741217917108, + 935.3690362771536, + 65.16861674493528 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4708.0, + 952.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-26-11_2088973871/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-26-11_2088973871/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb47b6a68ce522a7fd6dfa9f9f64d313809ba9c3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-26-11_2088973871/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1771.1305632709395, + -1131.3521788636876, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1769.6305632709395, + -1128.7541026523343, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1768.1305632709395, + -1126.156026440981, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1766.6305632709395, + -1123.5579502296275, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1765.1305632709395, + -1120.9598740182741, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1763.6305632709395, + -1118.3617978069208, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1762.1305632709395, + -1115.7637215955674, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1760.6305632709395, + -1113.165645384214, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1759.1305632709395, + -1110.5675691728607, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1757.6305632709395, + -1107.9694929615073, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1756.1305632709395, + -1105.371416750154, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1754.6305632709395, + -1102.7733405388005, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1753.1305632709395, + -1100.1752643274472, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1751.6305632709395, + -1097.5771881160938, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1750.1305632709395, + -1094.9791119047404, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1748.6305632709395, + -1092.381035693387, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1747.1305632709395, + -1089.7829594820337, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1745.6305632709395, + -1087.1848832706803, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1744.1305632709395, + -1084.586807059327, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1742.6305632709395, + -1081.9887308479736, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1741.1305632709395, + -1079.3906546366202, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1739.6305632709395, + -1076.7925784252668, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1738.1305632709395, + -1074.1945022139134, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1736.6305632709395, + -1071.59642600256, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1735.1305632709395, + -1068.9983497912067, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1733.6305632709395, + -1066.4002735798533, + 64.95729118702033 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1733.6305632709395, + -1066.4002735798533, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1731.0324870595862, + -1064.9002735798533, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1728.4344108482328, + -1063.4002735798533, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1725.8363346368794, + -1061.9002735798533, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1723.238258425526, + -1060.4002735798533, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1720.6401822141727, + -1058.9002735798533, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1718.0421060028193, + -1057.4002735798533, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1715.444029791466, + -1055.9002735798533, + 64.95729118702033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1712.8459535801126, + -1054.4002735798533, + 64.95729118702033 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1696.0, + -1036.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-28-28_931702944/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-28-28_931702944/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ac2a220c4263d768985522c31d7767ae6d4899c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-28-28_931702944/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 271.0699039288799, + 757.8825734911678, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 272.5699039288799, + 760.4806497025211, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 274.0699039288799, + 763.0787259138745, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 275.5699039288799, + 765.6768021252278, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 277.0699039288799, + 768.2748783365812, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 278.5699039288799, + 770.8729545479346, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 280.0699039288799, + 773.4710307592879, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 281.5699039288799, + 776.0691069706413, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 283.0699039288799, + 778.6671831819947, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 284.5699039288799, + 781.2652593933481, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 286.0699039288799, + 783.8633356047014, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 287.5699039288799, + 786.4614118160548, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 289.0699039288799, + 789.0594880274082, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 290.5699039288799, + 791.6575642387616, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 292.0699039288799, + 794.2556404501149, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 293.5699039288799, + 796.8537166614683, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 295.0699039288799, + 799.4517928728217, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 296.5699039288799, + 802.049869084175, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 298.0699039288799, + 804.6479452955284, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 299.5699039288799, + 807.2460215068818, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 301.0699039288799, + 809.8440977182352, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 302.5699039288799, + 812.4421739295885, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 304.0699039288799, + 815.0402501409419, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 305.5699039288799, + 817.6383263522953, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 307.0699039288799, + 820.2364025636487, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 308.5699039288799, + 822.834478775002, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 310.0699039288799, + 825.4325549863554, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 311.5699039288799, + 828.0306311977088, + 60.291433818020295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 313.0699039288799, + 830.6287074090621, + 60.291433818020295 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 328.0, + 852.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-29-38_252692819/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-29-38_252692819/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67b3d92f7c3b515eec2fa19fff3d9b9f1c630254 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-29-38_252692819/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 140.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 143.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 146.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 149.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 152.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 155.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 158.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 161.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 164.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 167.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 170.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 173.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 176.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 179.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 182.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 185.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 188.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 191.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 194.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 197.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 200.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 203.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 206.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 209.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 212.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 212.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 212.80088415274992, + 1945.8717304273928, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 214.30088415274992, + 1948.4698066387461, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 215.80088415274992, + 1951.0678828500995, + 44.47687361685449 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 215.80088415274992, + 1951.0678828500995, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 218.39896036410323, + 1952.5678828500995, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 220.99703657545655, + 1954.0678828500995, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 223.59511278680986, + 1955.5678828500995, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 226.19318899816318, + 1957.0678828500995, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 228.7912652095165, + 1958.5678828500995, + 44.47687361685449 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 231.3893414208698, + 1960.0678828500995, + 44.47687361685449 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 264.0, + 1968.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-3-18_765516336/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-3-18_765516336/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c93abf1a61e6d84c41c67a89b8803b8219d0d34a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-3-18_765516336/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1875.1083744405944, + -336.86576079329035, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1873.6083744405944, + -339.46383700464366, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1872.1083744405944, + -342.061913215997, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1870.6083744405944, + -344.6599894273503, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1869.1083744405944, + -347.2580656387036, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1867.6083744405944, + -349.85614185005693, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1866.1083744405944, + -352.45421806141024, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1864.6083744405944, + -355.05229427276356, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1863.1083744405944, + -357.6503704841169, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1861.6083744405944, + -360.2484466954702, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1860.1083744405944, + -362.8465229068235, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1858.6083744405944, + -365.4445991181768, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1857.1083744405944, + -368.04267532953014, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1855.6083744405944, + -370.64075154088346, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1854.1083744405944, + -373.2388277522368, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1852.6083744405944, + -375.8369039635901, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1851.1083744405944, + -378.4349801749434, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1849.6083744405944, + -381.0330563862967, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1848.1083744405944, + -383.63113259765004, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1846.6083744405944, + -386.22920880900335, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1845.1083744405944, + -388.82728502035667, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1843.6083744405944, + -391.42536123171, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1842.1083744405944, + -394.0234374430633, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1840.6083744405944, + -396.6215136544166, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1839.1083744405944, + -399.21958986576993, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1837.6083744405944, + -401.81766607712325, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1836.1083744405944, + -404.41574228847657, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1834.6083744405944, + -407.0138184998299, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1833.1083744405944, + -409.6118947111832, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1831.6083744405944, + -412.2099709225365, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1830.1083744405944, + -414.80804713388983, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1828.6083744405944, + -417.40612334524315, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1827.1083744405944, + -420.00419955659646, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1825.6083744405944, + -422.6022757679498, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1824.1083744405944, + -425.2003519793031, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1822.6083744405944, + -427.7984281906564, + 69.35237033290824 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1822.6083744405944, + -427.7984281906564, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1822.6083744405944, + -430.7984281906564, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1822.6083744405944, + -433.7984281906564, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1822.6083744405944, + -436.7984281906564, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1822.6083744405944, + -439.7984281906564, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1822.6083744405944, + -442.7984281906564, + 69.35237033290824 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1822.6083744405944, + -442.7984281906564, + 69.35237033290824 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1821.1083744405944, + -445.3965044020097, + 69.35237033290824 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1812.0, + -464.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-30-53_688347869/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-30-53_688347869/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b6c22978a058d9e39d96ce74cbef3beac48dcd0c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-30-53_688347869/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1938.3595005244576, + -88.8757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1935.7614243131043, + -90.3757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1933.163348101751, + -91.8757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1930.5652718903975, + -93.3757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1927.9671956790442, + -94.8757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1925.3691194676908, + -96.3757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1922.7710432563374, + -97.8757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1920.172967044984, + -99.3757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1917.5748908336307, + -100.8757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1914.9768146222773, + -102.3757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1912.378738410924, + -103.8757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1909.7806621995705, + -105.3757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1907.1825859882172, + -106.8757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1904.5845097768638, + -108.3757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1901.9864335655104, + -109.8757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1899.388357354157, + -111.3757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1896.7902811428037, + -112.8757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1894.1922049314503, + -114.3757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1891.594128720097, + -115.8757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1888.9960525087436, + -117.3757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1886.3979762973902, + -118.8757225507068, + 49.99270537536637 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1886.3979762973902, + -118.8757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1883.3979762973902, + -118.8757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1880.3979762973902, + -118.8757225507068, + 49.99270537536637 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1877.3979762973902, + -118.8757225507068, + 49.99270537536637 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1824.0, + -144.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-33-27_126610639/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-33-27_126610639/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd3f40c2a6272edec2dc61d74b4f881086a40109 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-33-27_126610639/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1862.4981772770846, + -2662.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1862.4981772770846, + -2665.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1862.4981772770846, + -2668.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1862.4981772770846, + -2671.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1862.4981772770846, + -2674.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1862.4981772770846, + -2677.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1862.4981772770846, + -2680.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1862.4981772770846, + -2683.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1862.4981772770846, + -2686.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1862.4981772770846, + -2689.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1862.4981772770846, + -2692.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1862.4981772770846, + -2695.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1862.4981772770846, + -2698.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1862.4981772770846, + -2701.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1862.4981772770846, + -2704.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1862.4981772770846, + -2707.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1862.4981772770846, + -2710.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1862.4981772770846, + -2713.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1862.4981772770846, + -2716.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1862.4981772770846, + -2719.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1862.4981772770846, + -2722.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1862.4981772770846, + -2725.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1862.4981772770846, + -2728.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1862.4981772770846, + -2731.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1862.4981772770846, + -2734.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1862.4981772770846, + -2737.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1862.4981772770846, + -2740.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1862.4981772770846, + -2743.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1862.4981772770846, + -2746.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1862.4981772770846, + -2749.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1862.4981772770846, + -2752.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1862.4981772770846, + -2755.3029750203473, + 45.50580199149834 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1862.4981772770846, + -2755.3029750203473, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1860.9981772770846, + -2757.9010512317004, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1859.4981772770846, + -2760.4991274430536, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1857.9981772770846, + -2763.0972036544067, + 45.50580199149834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1856.4981772770846, + -2765.69527986576, + 45.50580199149834 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1852.0, + -2784.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-34-35_1051384862/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-34-35_1051384862/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..45a5197d1e0a47127d37f7bb280d262e0b4c29ee --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-34-35_1051384862/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2035.617525015493, + 2424.6557664431925, + 53.89613792238608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2038.2156012268463, + 2426.1557664431925, + 53.89613792238608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2040.8136774381996, + 2427.6557664431925, + 53.89613792238608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2043.411753649553, + 2429.1557664431925, + 53.89613792238608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2046.0098298609064, + 2430.6557664431925, + 53.89613792238608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2048.6079060722595, + 2432.1557664431925, + 53.89613792238608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2051.2059822836127, + 2433.6557664431925, + 53.89613792238608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2053.804058494966, + 2435.1557664431925, + 53.89613792238608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2056.402134706319, + 2436.6557664431925, + 53.89613792238608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2059.000210917672, + 2438.1557664431925, + 53.89613792238608 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2059.000210917672, + 2438.1557664431925, + 53.89613792238608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2060.500210917672, + 2440.7538426545457, + 53.89613792238608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2062.000210917672, + 2443.351918865899, + 53.89613792238608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2063.500210917672, + 2445.949995077252, + 53.89613792238608 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2065.000210917672, + 2448.548071288605, + 53.89613792238608 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2132.0, + 2516.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-35-6_1350024145/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-35-6_1350024145/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7da6a0d427d406bf38d6f9505f6b6134074e3f0a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-35-6_1350024145/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2519.296698566799, + -1731.6354451415052, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2517.796698566799, + -1729.0373689301518, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2516.296698566799, + -1726.4392927187985, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2514.796698566799, + -1723.841216507445, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2513.296698566799, + -1721.2431402960917, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2511.796698566799, + -1718.6450640847384, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2510.296698566799, + -1716.046987873385, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2508.796698566799, + -1713.4489116620316, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2507.296698566799, + -1710.8508354506782, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2505.796698566799, + -1708.2527592393249, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2504.296698566799, + -1705.6546830279715, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2502.796698566799, + -1703.0566068166181, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2501.296698566799, + -1700.4585306052647, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2499.796698566799, + -1697.8604543939114, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2498.296698566799, + -1695.262378182558, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2496.796698566799, + -1692.6643019712046, + 50.283336168722585 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2496.796698566799, + -1692.6643019712046, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2494.198622355446, + -1691.1643019712046, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2491.6005461440927, + -1689.6643019712046, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2489.0024699327396, + -1688.1643019712046, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2486.4043937213864, + -1686.6643019712046, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2483.8063175100333, + -1685.1643019712046, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2481.20824129868, + -1683.6643019712046, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2478.610165087327, + -1682.1643019712046, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2476.012088875974, + -1680.6643019712046, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2473.4140126646207, + -1679.1643019712046, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2470.8159364532676, + -1677.6643019712046, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2468.2178602419144, + -1676.1643019712046, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2465.6197840305613, + -1674.6643019712046, + 50.283336168722585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2463.021707819208, + -1673.1643019712046, + 50.283336168722585 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2428.0, + -1636.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-36-24_805274956/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-36-24_805274956/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c955c1a9ff4df28e4c2d56e561795446de34df4d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-36-24_805274956/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1982.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1979.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1976.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1973.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1970.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1967.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1964.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1961.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1958.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1955.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1952.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1949.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1946.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1943.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1940.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1937.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1934.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1931.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1928.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1925.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1925.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1925.4594982960084, + 558.9484326219348, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1923.9594982960084, + 561.546508833288, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1922.4594982960084, + 564.1445850446414, + 55.58354554999344 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1922.4594982960084, + 564.1445850446414, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1919.861422084655, + 565.6445850446414, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1917.2633458733017, + 567.1445850446414, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1914.6652696619483, + 568.6445850446414, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1912.067193450595, + 570.1445850446414, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1909.4691172392415, + 571.6445850446414, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1906.8710410278882, + 573.1445850446414, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1904.2729648165348, + 574.6445850446414, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1901.6748886051814, + 576.1445850446414, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1899.076812393828, + 577.6445850446414, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1896.4787361824747, + 579.1445850446414, + 55.58354554999344 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1896.4787361824747, + 579.1445850446414, + 55.58354554999344 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1893.4787361824747, + 579.1445850446414, + 55.58354554999344 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1868.0, + 584.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-38-6_816636480/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-38-6_816636480/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08ee02367f16dc11023fd04e4bc2e5e454d52db0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-38-6_816636480/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1369.98629662958, + 1192.7756669961373, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1372.98629662958, + 1192.7756669961373, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1375.98629662958, + 1192.7756669961373, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1378.98629662958, + 1192.7756669961373, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1381.98629662958, + 1192.7756669961373, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1384.98629662958, + 1192.7756669961373, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1387.98629662958, + 1192.7756669961373, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1390.98629662958, + 1192.7756669961373, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1393.98629662958, + 1192.7756669961373, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1396.98629662958, + 1192.7756669961373, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1399.98629662958, + 1192.7756669961373, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1402.98629662958, + 1192.7756669961373, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1405.98629662958, + 1192.7756669961373, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1408.98629662958, + 1192.7756669961373, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1411.98629662958, + 1192.7756669961373, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1414.98629662958, + 1192.7756669961373, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1417.98629662958, + 1192.7756669961373, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1420.98629662958, + 1192.7756669961373, + 43.575580582995684 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1420.98629662958, + 1192.7756669961373, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1423.5843728409334, + 1194.2756669961373, + 43.575580582995684 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1423.5843728409334, + 1194.2756669961373, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1425.0843728409334, + 1196.8737432074906, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1426.5843728409334, + 1199.471819418844, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1428.0843728409334, + 1202.0698956301974, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1429.5843728409334, + 1204.6679718415508, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1431.0843728409334, + 1207.2660480529041, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1432.5843728409334, + 1209.8641242642575, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1434.0843728409334, + 1212.4622004756109, + 43.575580582995684 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1434.0843728409334, + 1212.4622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1436.6824490522868, + 1213.9622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1439.2805252636401, + 1215.4622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1441.8786014749935, + 1216.9622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1444.4766776863469, + 1218.4622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1447.0747538977002, + 1219.9622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1449.6728301090536, + 1221.4622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1452.270906320407, + 1222.9622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1454.8689825317604, + 1224.4622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1457.4670587431137, + 1225.9622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1460.065134954467, + 1227.4622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1462.6632111658205, + 1228.9622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1465.2612873771739, + 1230.4622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1467.8593635885272, + 1231.9622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1470.4574397998806, + 1233.4622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1473.055516011234, + 1234.9622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1475.6535922225873, + 1236.4622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1478.2516684339407, + 1237.9622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1480.849744645294, + 1239.4622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1483.4478208566475, + 1240.9622004756109, + 43.575580582995684 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1483.4478208566475, + 1240.9622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1486.4478208566475, + 1240.9622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1489.4478208566475, + 1240.9622004756109, + 43.575580582995684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1492.4478208566475, + 1240.9622004756109, + 43.575580582995684 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1504.0, + 1244.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-4-11_1990087183/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-4-11_1990087183/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34817f03b7c917fb27c26df6535785687cda7684 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-4-11_1990087183/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1944.4566395590066, + 2147.5997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1947.05471577036, + 2146.0997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1949.6527919817133, + 2144.5997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1952.2508681930667, + 2143.0997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1954.84894440442, + 2141.5997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1957.4470206157735, + 2140.0997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1960.0450968271268, + 2138.5997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1962.6431730384802, + 2137.0997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1965.2412492498336, + 2135.5997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1967.839325461187, + 2134.0997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1970.4374016725403, + 2132.5997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1973.0354778838937, + 2131.0997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1975.633554095247, + 2129.5997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1978.2316303066004, + 2128.0997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1980.8297065179538, + 2126.5997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1983.4277827293072, + 2125.0997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1986.0258589406606, + 2123.5997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1988.623935152014, + 2122.0997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1991.2220113633673, + 2120.5997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1993.8200875747207, + 2119.0997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1996.418163786074, + 2117.5997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1999.0162399974274, + 2116.0997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2001.6143162087808, + 2114.5997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2004.2123924201342, + 2113.0997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2006.8104686314875, + 2111.5997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2009.408544842841, + 2110.0997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2012.0066210541943, + 2108.5997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2014.6046972655477, + 2107.0997699012, + 48.86872091691826 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2014.6046972655477, + 2107.0997699012, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2016.1046972655477, + 2104.501693689847, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2017.6046972655477, + 2101.9036174784937, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2019.1046972655477, + 2099.3055412671406, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2020.6046972655477, + 2096.7074650557875, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2022.1046972655477, + 2094.1093888444343, + 48.86872091691826 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2023.6046972655477, + 2091.511312633081, + 48.86872091691826 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2060.0, + 2068.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-40-16_811545533/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-40-16_811545533/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93cff4c91ef460ce158219d5d1331206760c612a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-40-16_811545533/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1105.1237720611343, + 1179.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1105.1237720611343, + 1176.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1105.1237720611343, + 1173.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1105.1237720611343, + 1170.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1105.1237720611343, + 1167.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1105.1237720611343, + 1164.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1105.1237720611343, + 1161.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1105.1237720611343, + 1158.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1105.1237720611343, + 1155.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1105.1237720611343, + 1152.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1105.1237720611343, + 1149.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1105.1237720611343, + 1146.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1105.1237720611343, + 1143.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1105.1237720611343, + 1140.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1105.1237720611343, + 1137.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1105.1237720611343, + 1134.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1105.1237720611343, + 1131.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1105.1237720611343, + 1128.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1105.1237720611343, + 1125.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1105.1237720611343, + 1122.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1105.1237720611343, + 1119.9073828140802, + 40.342912365455575 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1105.1237720611343, + 1119.9073828140802, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1106.6237720611343, + 1117.3093066027268, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1108.1237720611343, + 1114.7112303913734, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1109.6237720611343, + 1112.11315418002, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1111.1237720611343, + 1109.5150779686667, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1112.6237720611343, + 1106.9170017573133, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1114.1237720611343, + 1104.31892554596, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1115.6237720611343, + 1101.7208493346066, + 40.342912365455575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1117.1237720611343, + 1099.1227731232532, + 40.342912365455575 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1128.0, + 1044.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-45-26_528746868/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-45-26_528746868/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..19e330a171abe1ae19aeec4b352c57ce6af2dcf4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-45-26_528746868/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4744.9433555940595, + -99.56755440480553, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4746.4433555940595, + -96.96947819345222, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4747.9433555940595, + -94.3714019820989, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4749.4433555940595, + -91.77332577074559, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4750.9433555940595, + -89.17524955939227, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4752.4433555940595, + -86.57717334803895, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4753.9433555940595, + -83.97909713668564, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4755.4433555940595, + -81.38102092533232, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4756.9433555940595, + -78.782944713979, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4758.4433555940595, + -76.18486850262569, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4759.9433555940595, + -73.58679229127237, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4761.4433555940595, + -70.98871607991906, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4762.9433555940595, + -68.39063986856574, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4764.4433555940595, + -65.79256365721243, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4765.9433555940595, + -63.19448744585911, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4767.4433555940595, + -60.596411234505794, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4768.9433555940595, + -57.99833502315248, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4770.4433555940595, + -55.40025881179916, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4771.9433555940595, + -52.802182600445846, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4773.4433555940595, + -50.20410638909253, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4774.9433555940595, + -47.606030177739214, + 64.68032262525031 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4774.9433555940595, + -47.606030177739214, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4777.541431805413, + -46.106030177739214, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4780.139508016766, + -44.606030177739214, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4782.737584228119, + -43.106030177739214, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4785.335660439472, + -41.606030177739214, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4787.933736650825, + -40.106030177739214, + 64.68032262525031 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4790.531812862178, + -38.606030177739214, + 64.68032262525031 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4812.0, + -8.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-46-2_601110799/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-46-2_601110799/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59dc31c1ee882241eaa807d214b9052b9d303a8d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-46-2_601110799/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3766.0308057231464, + 1215.0650071433197, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3767.5308057231464, + 1212.4669309319663, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3769.0308057231464, + 1209.868854720613, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3770.5308057231464, + 1207.2707785092596, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3772.0308057231464, + 1204.6727022979062, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3773.5308057231464, + 1202.0746260865528, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3775.0308057231464, + 1199.4765498751995, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3776.5308057231464, + 1196.878473663846, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3778.0308057231464, + 1194.2803974524927, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3779.5308057231464, + 1191.6823212411393, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3781.0308057231464, + 1189.084245029786, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3782.5308057231464, + 1186.4861688184326, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3784.0308057231464, + 1183.8880926070792, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3785.5308057231464, + 1181.2900163957258, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3787.0308057231464, + 1178.6919401843725, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3788.5308057231464, + 1176.093863973019, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3790.0308057231464, + 1173.4957877616657, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3791.5308057231464, + 1170.8977115503124, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3793.0308057231464, + 1168.299635338959, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3794.5308057231464, + 1165.7015591276056, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3796.0308057231464, + 1163.1034829162522, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3797.5308057231464, + 1160.5054067048989, + 66.54583280305565 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3797.5308057231464, + 1160.5054067048989, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3797.5308057231464, + 1157.5054067048989, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3797.5308057231464, + 1154.5054067048989, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3797.5308057231464, + 1151.5054067048989, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3797.5308057231464, + 1148.5054067048989, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3797.5308057231464, + 1145.5054067048989, + 66.54583280305565 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3797.5308057231464, + 1142.5054067048989, + 66.54583280305565 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3820.0, + 1092.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-48-51_2030108594/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-48-51_2030108594/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70c45f48bb08bb0ce437c043c1ea6978cdbd55f0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-48-51_2030108594/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3149.6440762559287, + -297.75211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3147.0460000445755, + -296.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3144.4479238332224, + -294.75211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3141.8498476218692, + -293.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3139.251771410516, + -291.75211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3136.653695199163, + -290.25211937628694, + 55.91183955041299 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3136.653695199163, + -290.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3133.653695199163, + -290.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3130.653695199163, + -290.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3127.653695199163, + -290.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3124.653695199163, + -290.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3121.653695199163, + -290.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3118.653695199163, + -290.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3115.653695199163, + -290.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3112.653695199163, + -290.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3109.653695199163, + -290.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3106.653695199163, + -290.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3103.653695199163, + -290.25211937628694, + 55.91183955041299 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3103.653695199163, + -290.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3101.05561898781, + -288.75211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3098.4575427764566, + -287.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3095.8594665651035, + -285.75211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3093.2613903537504, + -284.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3090.663314142397, + -282.75211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3088.065237931044, + -281.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3085.467161719691, + -279.75211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3082.869085508338, + -278.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3080.2710092969846, + -276.75211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3077.6729330856315, + -275.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3075.0748568742783, + -273.75211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3072.476780662925, + -272.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3069.878704451572, + -270.75211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3067.280628240219, + -269.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3064.6825520288658, + -267.75211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3062.0844758175126, + -266.25211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3059.4863996061595, + -264.75211937628694, + 55.91183955041299 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3059.4863996061595, + -264.75211937628694, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3057.9863996061595, + -262.1540431649336, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3056.4863996061595, + -259.5559669535803, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3054.9863996061595, + -256.957890742227, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3053.4863996061595, + -254.35981453087368, + 55.91183955041299 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 3051.9863996061595, + -251.76173831952036, + 55.91183955041299 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3020.0, + -236.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-5-49_63816220/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-5-49_63816220/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c9946b449219007604fdead7d0f4ed3b1ed087b8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-5-49_63816220/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4303.404262003341, + 761.9494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4300.806185791987, + 760.4494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4298.208109580634, + 758.9494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4295.610033369281, + 757.4494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4293.011957157928, + 755.9494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4290.413880946575, + 754.4494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4287.815804735222, + 752.9494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4285.217728523869, + 751.4494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4282.619652312515, + 749.9494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4280.021576101162, + 748.4494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4277.423499889809, + 746.9494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4274.825423678456, + 745.4494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4272.227347467103, + 743.9494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4269.62927125575, + 742.4494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4267.031195044397, + 740.9494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4264.433118833043, + 739.4494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4261.83504262169, + 737.9494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4259.236966410337, + 736.4494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4256.638890198984, + 734.9494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4254.040813987631, + 733.4494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4251.442737776278, + 731.9494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4248.8446615649245, + 730.4494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4246.246585353571, + 728.9494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4243.648509142218, + 727.4494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4241.050432930865, + 725.9494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4238.452356719512, + 724.4494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4235.854280508159, + 722.9494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4233.256204296806, + 721.4494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4230.6581280854525, + 719.9494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4228.060051874099, + 718.4494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4225.461975662746, + 716.9494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4222.863899451393, + 715.4494255416234, + 69.40072947456673 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4222.863899451393, + 715.4494255416234, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4221.363899451393, + 712.8513493302701, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4219.863899451393, + 710.2532731189167, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4218.363899451393, + 707.6551969075633, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4216.863899451393, + 705.05712069621, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4215.363899451393, + 702.4590444848566, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4213.863899451393, + 699.8609682735032, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4212.363899451393, + 697.2628920621498, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4210.863899451393, + 694.6648158507965, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4209.363899451393, + 692.0667396394431, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4207.863899451393, + 689.4686634280897, + 69.40072947456673 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4207.863899451393, + 689.4686634280897, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4205.26582324004, + 687.9686634280897, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 4202.667747028687, + 686.4686634280897, + 69.40072947456673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 4200.069670817334, + 684.9686634280897, + 69.40072947456673 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4184.0, + 672.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-59-58_1914020567/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-59-58_1914020567/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb463da1693d2e82d45bc55f377378c42f0197c2 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-59-58_1914020567/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 72.9721573493329, + -2136.4045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 70.37408113797959, + -2134.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 67.77600492662627, + -2133.4045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 65.17792871527296, + -2131.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 62.57985250391964, + -2130.4045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 59.98177629256632, + -2128.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 57.38370008121301, + -2127.4045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 54.78562386985969, + -2125.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 52.187547658506375, + -2124.4045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 49.58947144715306, + -2122.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 46.99139523579974, + -2121.4045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 44.39331902444643, + -2119.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 41.79524281309311, + -2118.4045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 39.197166601739795, + -2116.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 36.59909039038648, + -2115.4045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 34.00101417903316, + -2113.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 31.402937967679847, + -2112.4045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 28.80486175632653, + -2110.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 26.206785544973215, + -2109.4045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 23.6087093336199, + -2107.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 21.010633122266583, + -2106.4045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 18.412556910913267, + -2104.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 15.814480699559951, + -2103.4045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 13.216404488206635, + -2101.9045506325497, + 58.49997794601481 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 13.216404488206635, + -2101.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 10.216404488206635, + -2101.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 7.216404488206635, + -2101.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4.216404488206635, + -2101.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1.216404488206635, + -2101.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1.783595511793365, + -2101.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -4.783595511793365, + -2101.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -7.783595511793365, + -2101.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -10.783595511793365, + -2101.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -13.783595511793365, + -2101.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -16.783595511793365, + -2101.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -19.783595511793365, + -2101.9045506325497, + 58.49997794601481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -22.783595511793365, + -2101.9045506325497, + 58.49997794601481 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -52.0, + -2092.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-6-45_316321813/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-6-45_316321813/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bdaa7a742fc2048964e6a6052854fa890be1153f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-6-45_316321813/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2453.6434219664143, + -403.61300122548397, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2452.1434219664143, + -406.2110774368373, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2450.6434219664143, + -408.8091536481906, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2449.1434219664143, + -411.4072298595439, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2447.6434219664143, + -414.00530607089723, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2446.1434219664143, + -416.60338228225055, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2444.6434219664143, + -419.20145849360387, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2443.1434219664143, + -421.7995347049572, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2441.6434219664143, + -424.3976109163105, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2440.1434219664143, + -426.9956871276638, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2438.6434219664143, + -429.59376333901713, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2437.1434219664143, + -432.19183955037045, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2435.6434219664143, + -434.78991576172376, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2434.1434219664143, + -437.3879919730771, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2432.6434219664143, + -439.9860681844304, + 46.46319898076343 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2432.6434219664143, + -439.9860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2430.045345755061, + -441.4860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2427.447269543708, + -442.9860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2424.849193332355, + -444.4860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2422.2511171210017, + -445.9860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2419.6530409096486, + -447.4860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2417.0549646982954, + -448.9860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2414.4568884869423, + -450.4860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2411.858812275589, + -451.9860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2409.260736064236, + -453.4860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2406.662659852883, + -454.9860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2404.0645836415297, + -456.4860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2401.4665074301765, + -457.9860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2398.8684312188234, + -459.4860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2396.2703550074702, + -460.9860681844304, + 46.46319898076343 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2396.2703550074702, + -460.9860681844304, + 46.46319898076343 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2396.2703550074702, + -460.9860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948684 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2396.2703550074702, + -463.9860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2396.2703550074702, + -466.9860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2396.2703550074702, + -469.9860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2396.2703550074702, + -472.9860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2396.2703550074702, + -475.9860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2396.2703550074702, + -478.9860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2396.2703550074702, + -481.9860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2396.2703550074702, + -484.9860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2396.2703550074702, + -487.9860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2396.2703550074702, + -490.9860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2396.2703550074702, + -493.9860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2396.2703550074702, + -496.9860681844304, + 46.46319898076343 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 2396.2703550074702, + -496.9860681844304, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 2394.7703550074702, + -499.5841443957837, + 46.46319898076343 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 2393.2703550074702, + -502.182220607137, + 46.46319898076343 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2380.0, + -524.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-8-53_382402303/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-8-53_382402303/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ab4f69ae9435c00b3e264d7d6b2e11a5276f2e9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-8-53_382402303/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2901.729927376421, + 1678.3560440086362, + 64.00223015962615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2903.229927376421, + 1680.9541202199896, + 64.00223015962615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2904.729927376421, + 1683.552196431343, + 64.00223015962615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2906.229927376421, + 1686.1502726426963, + 64.00223015962615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2907.729927376421, + 1688.7483488540497, + 64.00223015962615 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2907.729927376421, + 1688.7483488540497, + 64.00223015962615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2907.729927376421, + 1691.7483488540497, + 64.00223015962615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2907.729927376421, + 1694.7483488540497, + 64.00223015962615 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2944.0, + 1788.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-9-21_2054525/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-9-21_2054525/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f913dede6bee8c564598ee542d7195dd62f58ac --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_12-9-21_2054525/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4650.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4653.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4656.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4659.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4662.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4665.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4668.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4671.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4674.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4677.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4680.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4683.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4686.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4689.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4692.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4695.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4698.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4701.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4704.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4704.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4704.591423347828, + -83.82423970808053, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4706.091423347828, + -86.42231591943384, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4707.591423347828, + -89.02039213078716, + 60.882710632474314 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4707.591423347828, + -89.02039213078716, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4710.189499559181, + -90.52039213078716, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4712.787575770534, + -92.02039213078716, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4715.385651981887, + -93.52039213078716, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4717.9837281932405, + -95.02039213078716, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4720.581804404594, + -96.52039213078716, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4723.179880615947, + -98.02039213078716, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4725.7779568273, + -99.52039213078716, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4728.376033038653, + -101.02039213078716, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4730.974109250006, + -102.52039213078716, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4733.572185461359, + -104.02039213078716, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4736.1702616727125, + -105.52039213078716, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4738.768337884066, + -107.02039213078716, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4741.366414095419, + -108.52039213078716, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4743.964490306772, + -110.02039213078716, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4746.562566518125, + -111.52039213078716, + 60.882710632474314 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4749.160642729478, + -113.02039213078716, + 60.882710632474314 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4764.0, + -120.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-0-53_359978009/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-0-53_359978009/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e435519d8a912a92aad757eaa79c8e70176ccfaa --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-0-53_359978009/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1617.278233842781, + 590.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1617.278233842781, + 587.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1617.278233842781, + 584.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1617.278233842781, + 581.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1617.278233842781, + 578.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1617.278233842781, + 575.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1617.278233842781, + 572.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1617.278233842781, + 569.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1617.278233842781, + 566.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1617.278233842781, + 563.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1617.278233842781, + 560.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1617.278233842781, + 557.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1617.278233842781, + 554.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1617.278233842781, + 551.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1617.278233842781, + 548.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1617.278233842781, + 545.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1617.278233842781, + 542.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1617.278233842781, + 539.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1617.278233842781, + 536.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1617.278233842781, + 533.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1617.278233842781, + 530.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1617.278233842781, + 527.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1617.278233842781, + 524.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1617.278233842781, + 521.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1617.278233842781, + 518.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1617.278233842781, + 515.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1617.278233842781, + 512.6270499866725, + 69.76385539207013 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1617.278233842781, + 512.6270499866725, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1615.778233842781, + 510.02897377531923, + 69.76385539207013 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1614.278233842781, + 507.4308975639659, + 69.76385539207013 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1612.0, + 456.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-1-36_2030681019/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-1-36_2030681019/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec2992a80919c8ab06b7416a2ab74322e2d496e8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-1-36_2030681019/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2969.741673732596, + -1744.2335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2967.143597521243, + -1745.7335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2964.54552130989, + -1747.2335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2961.9474450985367, + -1748.7335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2959.3493688871836, + -1750.2335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2956.7512926758304, + -1751.7335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2954.1532164644773, + -1753.2335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2951.555140253124, + -1754.7335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2948.957064041771, + -1756.2335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2946.358987830418, + -1757.7335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2943.7609116190647, + -1759.2335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2941.1628354077116, + -1760.7335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2938.5647591963584, + -1762.2335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2935.9666829850053, + -1763.7335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2933.368606773652, + -1765.2335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2930.770530562299, + -1766.7335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2928.172454350946, + -1768.2335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2925.5743781395927, + -1769.7335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2922.9763019282395, + -1771.2335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2920.3782257168864, + -1772.7335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2917.7801495055332, + -1774.2335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2915.18207329418, + -1775.7335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2912.583997082827, + -1777.2335512003426, + 43.42864212574556 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2912.583997082827, + -1777.2335512003426, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2911.083997082827, + -1779.831627411696, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2909.583997082827, + -1782.4297036230494, + 43.42864212574556 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2908.083997082827, + -1785.0277798344027, + 43.42864212574556 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2884.0, + -1804.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-11-42_1799656624/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-11-42_1799656624/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c807d0a99b2fc69dd4334b05d79a3e69db05635a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-11-42_1799656624/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2203.4495127700316, + -1825.2724689052247, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2201.9495127700316, + -1822.6743926938714, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2200.4495127700316, + -1820.076316482518, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2198.9495127700316, + -1817.4782402711646, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2197.4495127700316, + -1814.8801640598112, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2195.9495127700316, + -1812.2820878484579, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2194.4495127700316, + -1809.6840116371045, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2192.9495127700316, + -1807.0859354257511, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2191.4495127700316, + -1804.4878592143978, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2189.9495127700316, + -1801.8897830030444, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2188.4495127700316, + -1799.291706791691, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2186.9495127700316, + -1796.6936305803376, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2185.4495127700316, + -1794.0955543689843, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2183.9495127700316, + -1791.497478157631, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2182.4495127700316, + -1788.8994019462775, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2180.9495127700316, + -1786.3013257349241, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2179.4495127700316, + -1783.7032495235708, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2177.9495127700316, + -1781.1051733122174, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2176.4495127700316, + -1778.507097100864, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2174.9495127700316, + -1775.9090208895107, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2173.4495127700316, + -1773.3109446781573, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2171.9495127700316, + -1770.712868466804, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2170.4495127700316, + -1768.1147922554505, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2168.9495127700316, + -1765.5167160440972, + 42.80544371880078 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2168.9495127700316, + -1765.5167160440972, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2166.3514365586784, + -1764.0167160440972, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2163.7533603473253, + -1762.5167160440972, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2161.155284135972, + -1761.0167160440972, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2158.557207924619, + -1759.5167160440972, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2155.959131713266, + -1758.0167160440972, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2153.3610555019127, + -1756.5167160440972, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2150.7629792905595, + -1755.0167160440972, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2148.1649030792064, + -1753.5167160440972, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2145.5668268678533, + -1752.0167160440972, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2142.9687506565, + -1750.5167160440972, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2140.370674445147, + -1749.0167160440972, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2137.772598233794, + -1747.5167160440972, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2135.1745220224407, + -1746.0167160440972, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2132.5764458110875, + -1744.5167160440972, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2129.9783695997344, + -1743.0167160440972, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2127.3802933883812, + -1741.5167160440972, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2124.782217177028, + -1740.0167160440972, + 42.80544371880078 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2124.782217177028, + -1740.0167160440972, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2123.282217177028, + -1737.4186398327438, + 42.80544371880078 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2121.782217177028, + -1734.8205636213904, + 42.80544371880078 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2108.0, + -1720.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-15-48_1431109849/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-15-48_1431109849/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d724b9be8bb003a7b12f3a713350b5d8cc75b2e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-15-48_1431109849/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1507.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1504.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1501.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1498.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1495.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1492.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1489.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1486.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1483.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1480.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1477.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1474.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1471.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1468.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1465.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1462.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1459.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1456.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1453.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1450.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1447.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1444.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1441.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1438.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1435.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1432.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1429.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1426.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1423.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1420.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1417.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1414.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1411.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1408.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1405.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1402.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1399.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1396.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1393.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1390.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1390.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1390.1574702302896, + -167.27418697933314, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1388.6574702302896, + -169.87226319068645, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1387.1574702302896, + -172.47033940203977, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1385.6574702302896, + -175.06841561339309, + 45.84164740686173 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1385.6574702302896, + -175.06841561339309, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1383.0593940189362, + -176.56841561339309, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1380.4613178075829, + -178.06841561339309, + 45.84164740686173 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1377.8632415962295, + -179.56841561339309, + 45.84164740686173 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1364.0, + -180.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-23-35_1504049676/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-23-35_1504049676/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..393446675cfe349d3a8c19368bd30cc5db8885cf --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-23-35_1504049676/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2176.4514397075022, + -2876.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2176.4514397075022, + -2879.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2176.4514397075022, + -2882.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2176.4514397075022, + -2885.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2176.4514397075022, + -2888.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2176.4514397075022, + -2891.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2176.4514397075022, + -2894.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2176.4514397075022, + -2897.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2176.4514397075022, + -2900.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2176.4514397075022, + -2903.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2176.4514397075022, + -2906.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2176.4514397075022, + -2909.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2176.4514397075022, + -2912.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2176.4514397075022, + -2915.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2176.4514397075022, + -2918.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2176.4514397075022, + -2921.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2176.4514397075022, + -2924.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2176.4514397075022, + -2927.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2176.4514397075022, + -2930.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2176.4514397075022, + -2933.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2176.4514397075022, + -2936.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2176.4514397075022, + -2939.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2176.4514397075022, + -2942.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2176.4514397075022, + -2945.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2176.4514397075022, + -2948.904311263969, + 65.43484288209015 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2176.4514397075022, + -2948.904311263969, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2177.9514397075022, + -2951.502387475322, + 65.43484288209015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2179.4514397075022, + -2954.100463686675, + 65.43484288209015 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2184.0, + -3024.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-24-33_1696549109/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-24-33_1696549109/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a8793147420a25371e12253b178517322484ecd --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-24-33_1696549109/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2149.410376885496, + -2649.2346417946897, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2150.910376885496, + -2646.6365655833365, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2152.410376885496, + -2644.0384893719834, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2153.910376885496, + -2641.44041316063, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2155.410376885496, + -2638.842336949277, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2156.910376885496, + -2636.244260737924, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2158.410376885496, + -2633.646184526571, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2159.910376885496, + -2631.0481083152176, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2161.410376885496, + -2628.4500321038645, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2162.910376885496, + -2625.8519558925113, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2164.410376885496, + -2623.253879681158, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2165.910376885496, + -2620.655803469805, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2167.410376885496, + -2618.057727258452, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2168.910376885496, + -2615.4596510470988, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2170.410376885496, + -2612.8615748357456, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2171.910376885496, + -2610.2634986243925, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2173.410376885496, + -2607.6654224130393, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2174.910376885496, + -2605.067346201686, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2176.410376885496, + -2602.469269990333, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2177.910376885496, + -2599.87119377898, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2179.410376885496, + -2597.2731175676267, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2180.910376885496, + -2594.6750413562736, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2182.410376885496, + -2592.0769651449205, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2183.910376885496, + -2589.4788889335673, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2185.410376885496, + -2586.880812722214, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2186.910376885496, + -2584.282736510861, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2188.410376885496, + -2581.684660299508, + 67.45276355786507 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2188.410376885496, + -2581.684660299508, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794925 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2188.410376885496, + -2578.684660299508, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2188.410376885496, + -2575.684660299508, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2188.410376885496, + -2572.684660299508, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2188.410376885496, + -2569.684660299508, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2188.410376885496, + -2566.684660299508, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2188.410376885496, + -2563.684660299508, + 67.45276355786507 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2188.410376885496, + -2560.684660299508, + 67.45276355786507 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2196.0, + -2540.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-26-30_1663925721/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-26-30_1663925721/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d3572d1b87be9bba0199513e9ae0bd7cc66f1f67 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-26-30_1663925721/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1077.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1074.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1071.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1068.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1065.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1062.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1059.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1056.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1053.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1050.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1047.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1044.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1041.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1038.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1035.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1032.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1029.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1026.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1023.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1020.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1017.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1014.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1011.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1008.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1005.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1002.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -999.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -996.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -993.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -990.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -987.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -984.305790762254, + 948.6201914959112, + 52.03368979395322 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -964.0, + 948.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-27-50_1464355903/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-27-50_1464355903/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..337377d787529866200a7c0abc3adef771d71796 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-27-50_1464355903/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2178.341667580971, + -1785.9503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2180.939743792324, + -1787.4503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2183.537820003677, + -1788.9503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2186.1358962150302, + -1790.4503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2188.7339724263834, + -1791.9503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2191.3320486377365, + -1793.4503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2193.9301248490897, + -1794.9503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2196.528201060443, + -1796.4503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2199.126277271796, + -1797.9503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2201.724353483149, + -1799.4503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2204.3224296945023, + -1800.9503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2206.9205059058554, + -1802.4503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2209.5185821172086, + -1803.9503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2212.1166583285617, + -1805.4503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2214.714734539915, + -1806.9503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2217.312810751268, + -1808.4503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2219.910886962621, + -1809.9503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2222.5089631739743, + -1811.4503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2225.1070393853274, + -1812.9503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2227.7051155966806, + -1814.4503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2230.3031918080337, + -1815.9503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2232.901268019387, + -1817.4503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2235.49934423074, + -1818.9503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2238.097420442093, + -1820.4503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2240.6954966534463, + -1821.9503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2243.2935728647994, + -1823.4503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2245.8916490761526, + -1824.9503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2248.4897252875057, + -1826.4503764463996, + 66.38324908653696 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2248.4897252875057, + -1826.4503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2251.4897252875057, + -1826.4503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2254.4897252875057, + -1826.4503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2257.4897252875057, + -1826.4503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2260.4897252875057, + -1826.4503764463996, + 66.38324908653696 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2263.4897252875057, + -1826.4503764463996, + 66.38324908653696 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2296.0, + -1840.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-3-20_323944298/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-3-20_323944298/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d2aa5ae2d3f0f84078d33aac5126f23e5033850a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-3-20_323944298/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2369.591190315698, + 484.409630515289, + 67.10444934318856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2371.091190315698, + 487.0077067266423, + 67.10444934318856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2372.591190315698, + 489.6057829379956, + 67.10444934318856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2374.091190315698, + 492.20385914934894, + 67.10444934318856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2375.591190315698, + 494.80193536070226, + 67.10444934318856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2377.091190315698, + 497.4000115720556, + 67.10444934318856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2378.591190315698, + 499.9980877834089, + 67.10444934318856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2380.091190315698, + 502.5961639947622, + 67.10444934318856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2381.591190315698, + 505.1942402061155, + 67.10444934318856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2383.091190315698, + 507.79231641746884, + 67.10444934318856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2384.591190315698, + 510.39039262882216, + 67.10444934318856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2386.091190315698, + 512.9884688401755, + 67.10444934318856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2387.591190315698, + 515.5865450515289, + 67.10444934318856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2389.091190315698, + 518.1846212628823, + 67.10444934318856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2390.591190315698, + 520.7826974742356, + 67.10444934318856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2392.091190315698, + 523.380773685589, + 67.10444934318856 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2392.091190315698, + 523.380773685589, + 67.10444934318856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2394.689266527051, + 524.880773685589, + 67.10444934318856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2397.2873427384043, + 526.380773685589, + 67.10444934318856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2399.8854189497574, + 527.880773685589, + 67.10444934318856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2402.4834951611106, + 529.380773685589, + 67.10444934318856 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2440.0, + 584.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-3-56_1511743016/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-3-56_1511743016/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b31cbf63f6802a2ec6f6eca1cecc09b0153e8698 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-3-56_1511743016/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1331.4564308801077, + -252.45577788318468, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1334.0545070914611, + -250.95577788318468, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1336.6525833028145, + -249.45577788318468, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1339.2506595141679, + -247.95577788318468, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1341.8487357255212, + -246.45577788318468, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1344.4468119368746, + -244.95577788318468, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1347.044888148228, + -243.45577788318468, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1349.6429643595814, + -241.95577788318468, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1352.2410405709347, + -240.45577788318468, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1354.839116782288, + -238.95577788318468, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1357.4371929936415, + -237.45577788318468, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1360.0352692049948, + -235.95577788318468, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1362.6333454163482, + -234.45577788318468, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1365.2314216277016, + -232.95577788318468, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1367.829497839055, + -231.45577788318468, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1370.4275740504083, + -229.95577788318468, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1373.0256502617617, + -228.45577788318468, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1375.623726473115, + -226.95577788318468, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1378.2218026844685, + -225.45577788318468, + 69.47393853348599 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1378.2218026844685, + -225.45577788318468, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1379.7218026844685, + -222.85770167183136, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1381.2218026844685, + -220.25962546047805, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1382.7218026844685, + -217.66154924912473, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1384.2218026844685, + -215.06347303777142, + 69.47393853348599 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1385.7218026844685, + -212.4653968264181, + 69.47393853348599 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1416.0, + -192.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-30-10_1255961878/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-30-10_1255961878/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b269d2f013978ba36a33b1d66e3806fc175aa757 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-30-10_1255961878/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 422.143703084462, + -1740.2866258741014, + 55.0850284552764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 420.643703084462, + -1737.688549662748, + 55.0850284552764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 419.143703084462, + -1735.0904734513947, + 55.0850284552764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 417.643703084462, + -1732.4923972400413, + 55.0850284552764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 416.143703084462, + -1729.894321028688, + 55.0850284552764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 414.643703084462, + -1727.2962448173346, + 55.0850284552764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 413.143703084462, + -1724.6981686059812, + 55.0850284552764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 411.643703084462, + -1722.1000923946278, + 55.0850284552764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 410.143703084462, + -1719.5020161832745, + 55.0850284552764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 408.643703084462, + -1716.903939971921, + 55.0850284552764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 407.143703084462, + -1714.3058637605677, + 55.0850284552764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 405.643703084462, + -1711.7077875492143, + 55.0850284552764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 404.143703084462, + -1709.109711337861, + 55.0850284552764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 402.643703084462, + -1706.5116351265076, + 55.0850284552764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 401.143703084462, + -1703.9135589151542, + 55.0850284552764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 399.643703084462, + -1701.3154827038009, + 55.0850284552764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 398.143703084462, + -1698.7174064924475, + 55.0850284552764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 396.643703084462, + -1696.119330281094, + 55.0850284552764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 395.143703084462, + -1693.5212540697407, + 55.0850284552764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 393.643703084462, + -1690.9231778583874, + 55.0850284552764 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 372.0, + -1652.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-32-10_2083782853/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-32-10_2083782853/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..493ed32570a956b73d731c35bfb4f1b56c4fa9c4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-32-10_2083782853/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2147.385921034258, + -1725.8548646326715, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2145.885921034258, + -1723.256788421318, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2144.385921034258, + -1720.6587122099647, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2142.885921034258, + -1718.0606359986114, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2141.385921034258, + -1715.462559787258, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2139.885921034258, + -1712.8644835759046, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2138.385921034258, + -1710.2664073645512, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2136.885921034258, + -1707.6683311531979, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2135.385921034258, + -1705.0702549418445, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2133.885921034258, + -1702.4721787304911, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2132.385921034258, + -1699.8741025191378, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2130.885921034258, + -1697.2760263077844, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2129.385921034258, + -1694.677950096431, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2127.885921034258, + -1692.0798738850776, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2126.385921034258, + -1689.4817976737243, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2124.885921034258, + -1686.8837214623709, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2123.385921034258, + -1684.2856452510175, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2121.885921034258, + -1681.6875690396641, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2120.385921034258, + -1679.0894928283108, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2118.885921034258, + -1676.4914166169574, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2117.385921034258, + -1673.893340405604, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2115.885921034258, + -1671.2952641942506, + 41.574480701842866 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2115.885921034258, + -1671.2952641942506, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2113.287844822905, + -1669.7952641942506, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2110.6897686115517, + -1668.2952641942506, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2108.0916924001986, + -1666.7952641942506, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2105.4936161888454, + -1665.2952641942506, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2102.8955399774923, + -1663.7952641942506, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2100.297463766139, + -1662.2952641942506, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2097.699387554786, + -1660.7952641942506, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2095.101311343433, + -1659.2952641942506, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2092.5032351320797, + -1657.7952641942506, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2089.9051589207265, + -1656.2952641942506, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2087.3070827093734, + -1654.7952641942506, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2084.7090064980202, + -1653.2952641942506, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2082.110930286667, + -1651.7952641942506, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2079.512854075314, + -1650.2952641942506, + 41.574480701842866 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2079.512854075314, + -1650.2952641942506, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2076.512854075314, + -1650.2952641942506, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2073.512854075314, + -1650.2952641942506, + 41.574480701842866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2070.512854075314, + -1650.2952641942506, + 41.574480701842866 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2056.0, + -1636.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-38-0_2126966692/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-38-0_2126966692/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6fbae5a9f6ab8ccd98a3592a58b6c70680fda0f2 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-38-0_2126966692/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 69.55882613214492, + 1219.6807811961328, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 69.55882613214492, + 1222.6807811961328, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 69.55882613214492, + 1225.6807811961328, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 69.55882613214492, + 1228.6807811961328, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 69.55882613214492, + 1231.6807811961328, + 45.096053946344185 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 69.55882613214492, + 1231.6807811961328, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 71.05882613214492, + 1234.2788574074862, + 45.096053946344185 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 71.05882613214492, + 1234.2788574074862, + 45.096053946344185 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 71.05882613214492, + 1234.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 74.05882613214492, + 1234.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 77.05882613214492, + 1234.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 80.05882613214492, + 1234.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 83.05882613214492, + 1234.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 86.05882613214492, + 1234.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 89.05882613214492, + 1234.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 92.05882613214492, + 1234.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 95.05882613214492, + 1234.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 98.05882613214492, + 1234.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 101.05882613214492, + 1234.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 104.05882613214492, + 1234.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 107.05882613214492, + 1234.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 110.05882613214492, + 1234.2788574074862, + 45.096053946344185 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 110.05882613214492, + 1234.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 112.65690234349823, + 1232.7788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 115.25497855485155, + 1231.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 117.85305476620486, + 1229.7788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 120.45113097755818, + 1228.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 123.0492071889115, + 1226.7788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 125.64728340026481, + 1225.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 128.24535961161814, + 1223.7788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982965 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 130.84343582297146, + 1222.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 133.44151203432477, + 1220.7788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 136.0395882456781, + 1219.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 138.6376644570314, + 1217.7788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 141.23574066838472, + 1216.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 143.83381687973804, + 1214.7788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 146.43189309109135, + 1213.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 149.02996930244467, + 1211.7788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 151.62804551379799, + 1210.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 154.2261217251513, + 1208.7788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 156.82419793650462, + 1207.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 159.42227414785793, + 1205.7788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 162.02035035921125, + 1204.2788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 164.61842657056457, + 1202.7788574074862, + 45.096053946344185 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 164.61842657056457, + 1202.7788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 167.61842657056457, + 1202.7788574074862, + 45.096053946344185 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 170.61842657056457, + 1202.7788574074862, + 45.096053946344185 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 188.0, + 1200.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-41-49_2075331834/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-41-49_2075331834/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..33013550a1410cb470e7c4d23c16b094f19feb7d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-41-49_2075331834/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4707.847951587057, + 1064.4620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4705.249875375704, + 1062.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4702.65179916435, + 1061.4620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4700.053722952997, + 1059.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4697.455646741644, + 1058.4620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4694.857570530291, + 1056.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4692.259494318938, + 1055.4620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4689.661418107585, + 1053.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4687.063341896232, + 1052.4620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4684.465265684878, + 1050.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4681.867189473525, + 1049.4620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4679.269113262172, + 1047.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4676.671037050819, + 1046.4620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4674.072960839466, + 1044.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4671.474884628113, + 1043.4620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4668.87680841676, + 1041.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4666.278732205406, + 1040.4620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4663.680655994053, + 1038.9620304089817, + 62.355190412821536 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4663.680655994053, + 1038.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4660.680655994053, + 1038.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4657.680655994053, + 1038.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4654.680655994053, + 1038.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4651.680655994053, + 1038.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4648.680655994053, + 1038.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4645.680655994053, + 1038.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4642.680655994053, + 1038.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4639.680655994053, + 1038.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4636.680655994053, + 1038.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4633.680655994053, + 1038.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4630.680655994053, + 1038.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4627.680655994053, + 1038.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4624.680655994053, + 1038.9620304089817, + 62.355190412821536 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4621.680655994053, + 1038.9620304089817, + 62.355190412821536 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4592.0, + 1032.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-42-9_1452362972/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-42-9_1452362972/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..096a95028704e93e6ffe8da92fac121ad38299ec --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-42-9_1452362972/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4608.800565621544, + 1138.3948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4606.2024894101905, + 1136.8948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4603.604413198837, + 1135.3948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4601.006336987484, + 1133.8948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4598.408260776131, + 1132.3948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4595.810184564778, + 1130.8948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4593.212108353425, + 1129.3948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4590.614032142072, + 1127.8948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4588.0159559307185, + 1126.3948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4585.417879719365, + 1124.8948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4582.819803508012, + 1123.3948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4580.221727296659, + 1121.8948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4577.623651085306, + 1120.3948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4575.025574873953, + 1118.8948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4572.4274986626, + 1117.3948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4569.8294224512465, + 1115.8948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4567.231346239893, + 1114.3948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4564.63327002854, + 1112.8948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4562.035193817187, + 1111.3948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4559.437117605834, + 1109.8948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4556.839041394481, + 1108.3948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4554.240965183128, + 1106.8948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4551.6428889717745, + 1105.3948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4549.044812760421, + 1103.8948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4546.446736549068, + 1102.3948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4543.848660337715, + 1100.8948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4541.250584126362, + 1099.3948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4538.652507915009, + 1097.8948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4536.054431703656, + 1096.3948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4533.4563554923025, + 1094.8948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4530.858279280949, + 1093.3948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4528.260203069596, + 1091.8948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4525.662126858243, + 1090.3948562798373, + 51.28949049997692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4523.06405064689, + 1088.8948562798373, + 51.28949049997692 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4500.0, + 1076.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-45-59_1051760182/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-45-59_1051760182/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4cbeb2e94de475d707142a6bca3bb96770a2045a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-45-59_1051760182/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4350.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4347.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4344.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4341.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4338.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4335.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4332.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4329.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4326.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4323.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4320.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4317.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4314.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4311.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4308.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4305.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4302.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4299.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4296.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4293.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4290.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4290.697870089858, + 2349.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4288.099793878505, + 2350.6001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4285.501717667152, + 2352.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4282.903641455799, + 2353.6001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4280.3055652444455, + 2355.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4277.707489033092, + 2356.6001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4275.109412821739, + 2358.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4272.511336610386, + 2359.6001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4269.913260399033, + 2361.1001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4267.31518418768, + 2362.6001309839285, + 52.5320331739867 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4264.717107976327, + 2364.1001309839285, + 52.5320331739867 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4240.0, + 2372.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-47-12_1514346896/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-47-12_1514346896/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..68f7fe2269a321a52c6def6f9619a27c94555393 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-47-12_1514346896/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -716.5656575821193, + -2970.1863799347916, + 42.158013524289615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -716.5656575821193, + -2973.1863799347916, + 42.158013524289615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -716.5656575821193, + -2976.1863799347916, + 42.158013524289615 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -716.5656575821193, + -2976.1863799347916, + 42.158013524289615 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -715.0656575821193, + -2978.7844561461447, + 42.158013524289615 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -692.0, + -3088.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-47-22_284122032/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-47-22_284122032/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd5b3296b7f45f9c8c35596620003da7a05b6a04 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-47-22_284122032/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -84.8155634304446, + -178.67022627446516, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -83.3155634304446, + -176.07215006311185, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -81.8155634304446, + -173.47407385175853, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -80.3155634304446, + -170.87599764040522, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -78.8155634304446, + -168.2779214290519, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -77.3155634304446, + -165.67984521769858, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -75.8155634304446, + -163.08176900634527, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -74.3155634304446, + -160.48369279499195, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -72.8155634304446, + -157.88561658363864, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -71.3155634304446, + -155.28754037228532, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -69.8155634304446, + -152.689464160932, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -68.3155634304446, + -150.0913879495787, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -66.8155634304446, + -147.49331173822537, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -65.3155634304446, + -144.89523552687206, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -63.8155634304446, + -142.29715931551874, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -62.3155634304446, + -139.69908310416542, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -60.8155634304446, + -137.1010068928121, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -59.3155634304446, + -134.5029306814588, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -57.8155634304446, + -131.90485447010548, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -56.3155634304446, + -129.30677825875216, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -54.8155634304446, + -126.70870204739884, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -53.3155634304446, + -124.11062583604553, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -51.8155634304446, + -121.51254962469221, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -50.3155634304446, + -118.9144734133389, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -48.8155634304446, + -116.31639720198558, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -47.3155634304446, + -113.71832099063226, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -45.8155634304446, + -111.12024477927895, + 53.175739010892265 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -45.8155634304446, + -111.12024477927895, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -43.21748721909128, + -109.62024477927895, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -40.619411007737966, + -108.12024477927895, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -38.02133479638465, + -106.62024477927895, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -35.423258585031334, + -105.12024477927895, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -32.82518237367802, + -103.62024477927895, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -30.227106162324702, + -102.12024477927895, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -27.629029950971386, + -100.62024477927895, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -25.03095373961807, + -99.12024477927895, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -22.432877528264754, + -97.62024477927895, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -19.834801316911438, + -96.12024477927895, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -17.236725105558122, + -94.62024477927895, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -14.638648894204806, + -93.12024477927895, + 53.175739010892265 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -12.04057268285149, + -91.62024477927895, + 53.175739010892265 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 8.0, + -68.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-48-52_1669817857/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-48-52_1669817857/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c67e3f5db6d32d8eb0e0acdcf4a47eb516550fd6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-48-52_1669817857/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4717.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4720.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4723.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4726.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4729.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4732.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4735.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4738.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4741.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4744.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4747.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4750.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4753.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4756.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4759.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4762.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4765.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4768.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4771.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4774.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4777.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4780.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4783.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4786.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4789.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4792.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4792.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4792.660791765396, + -1718.725898750962, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4794.160791765396, + -1721.3239749623153, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4795.660791765396, + -1723.9220511736687, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4797.160791765396, + -1726.520127385022, + 56.93653159770166 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4797.160791765396, + -1726.520127385022, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4799.75886797675, + -1728.020127385022, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4802.356944188103, + -1729.520127385022, + 56.93653159770166 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4804.955020399456, + -1731.020127385022, + 56.93653159770166 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4824.0, + -1736.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-5-40_175523541/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-5-40_175523541/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..880517c6ebd1436b68bc531218096b2acf2a4c53 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-5-40_175523541/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2961.558608039736, + -2343.271336932165, + 47.17232103903066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2964.1566842510892, + -2341.771336932165, + 47.17232103903066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2966.7547604624424, + -2340.271336932165, + 47.17232103903066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2969.3528366737955, + -2338.771336932165, + 47.17232103903066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2971.9509128851487, + -2337.271336932165, + 47.17232103903066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2974.548989096502, + -2335.771336932165, + 47.17232103903066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2977.147065307855, + -2334.271336932165, + 47.17232103903066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2979.745141519208, + -2332.771336932165, + 47.17232103903066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2982.3432177305613, + -2331.271336932165, + 47.17232103903066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2984.9412939419144, + -2329.771336932165, + 47.17232103903066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2987.5393701532676, + -2328.271336932165, + 47.17232103903066 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2987.5393701532676, + -2328.271336932165, + 47.17232103903066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2990.5393701532676, + -2328.271336932165, + 47.17232103903066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2993.5393701532676, + -2328.271336932165, + 47.17232103903066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2996.5393701532676, + -2328.271336932165, + 47.17232103903066 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2999.5393701532676, + -2328.271336932165, + 47.17232103903066 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3076.0, + -2296.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-5-52_847196228/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-5-52_847196228/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e00149694b05b417966aee801e52e84d149a0288 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-5-52_847196228/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2310.5212406799724, + -1769.5505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2313.1193168913255, + -1771.0505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2315.7173931026787, + -1772.5505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2318.315469314032, + -1774.0505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2320.913545525385, + -1775.5505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2323.511621736738, + -1777.0505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2326.1096979480913, + -1778.5505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2328.7077741594444, + -1780.0505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2331.3058503707975, + -1781.5505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2333.9039265821507, + -1783.0505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2336.502002793504, + -1784.5505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2339.100079004857, + -1786.0505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2341.69815521621, + -1787.5505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2344.2962314275633, + -1789.0505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2346.8943076389164, + -1790.5505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2349.4923838502696, + -1792.0505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2352.0904600616227, + -1793.5505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2354.688536272976, + -1795.0505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2357.286612484329, + -1796.5505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2359.884688695682, + -1798.0505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2362.4827649070353, + -1799.5505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2365.0808411183884, + -1801.0505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2367.6789173297416, + -1802.5505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2370.2769935410947, + -1804.0505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2372.875069752448, + -1805.5505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2375.473145963801, + -1807.0505238365477, + 57.61697975517599 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2375.473145963801, + -1807.0505238365477, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2376.973145963801, + -1809.648600047901, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2378.473145963801, + -1812.2466762592544, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2379.973145963801, + -1814.8447524706078, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2381.473145963801, + -1817.4428286819611, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2382.973145963801, + -1820.0409048933145, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2384.473145963801, + -1822.638981104668, + 57.61697975517599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2385.973145963801, + -1825.2370573160213, + 57.61697975517599 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2412.0, + -1844.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-50-31_495842816/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-50-31_495842816/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd014032ef988bdb8223d29bd0160dfe08dd5474 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-50-31_495842816/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1480.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1477.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1474.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1471.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1468.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1465.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1462.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1459.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1456.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1453.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1450.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1447.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1444.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1441.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1438.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1435.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1432.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1429.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1426.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1423.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1423.3695502094629, + -94.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1420.7714739981095, + -95.70543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1418.1733977867561, + -97.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1415.5753215754028, + -98.70543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1412.9772453640494, + -100.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1410.379169152696, + -101.70543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1407.7810929413426, + -103.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1405.1830167299893, + -104.70543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1402.584940518636, + -106.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1399.9868643072825, + -107.70543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1397.3887880959292, + -109.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1394.7907118845758, + -110.70543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1392.1926356732224, + -112.20543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1389.594559461869, + -113.70543580616085, + 41.070645898129655 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1389.594559461869, + -113.70543580616085, + 41.070645898129655 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1386.594559461869, + -113.70543580616085, + 41.070645898129655 + ], + "type": "stop", + "value": 0, + "yaw": -3.1415926535898024 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1352.0, + -120.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-51-54_742499321/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-51-54_742499321/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e59b88f48f327c130b693ee841dba2ff4eb9d21 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-51-54_742499321/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -704.0509736996966, + 588.1879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -706.6490499110498, + 586.6879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -709.2471261224032, + 585.1879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -711.8452023337566, + 583.6879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -714.4432785451099, + 582.1879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -717.0413547564633, + 580.6879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -719.6394309678167, + 579.1879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -722.23750717917, + 577.6879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -724.8355833905234, + 576.1879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -727.4336596018768, + 574.6879534847636, + 59.96606248405622 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -727.4336596018768, + 574.6879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -730.4336596018768, + 574.6879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -733.4336596018768, + 574.6879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -736.4336596018768, + 574.6879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -739.4336596018768, + 574.6879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -742.4336596018768, + 574.6879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -745.4336596018768, + 574.6879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -748.4336596018768, + 574.6879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -751.4336596018768, + 574.6879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -754.4336596018768, + 574.6879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -757.4336596018768, + 574.6879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -760.4336596018768, + 574.6879534847636, + 59.96606248405622 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -763.4336596018768, + 574.6879534847636, + 59.96606248405622 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -824.0, + 556.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-54-50_1035244944/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-54-50_1035244944/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93c4788a84ad4c812b1d7049d3d572b15b0f5969 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-54-50_1035244944/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2566.4201597564056, + -2696.800651840755, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2567.9201597564056, + -2699.3987280521083, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2569.4201597564056, + -2701.9968042634614, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2570.9201597564056, + -2704.5948804748145, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2572.4201597564056, + -2707.1929566861677, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2573.9201597564056, + -2709.791032897521, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2575.4201597564056, + -2712.389109108874, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2576.9201597564056, + -2714.987185320227, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2578.4201597564056, + -2717.5852615315803, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2579.9201597564056, + -2720.1833377429334, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2581.4201597564056, + -2722.7814139542866, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2582.9201597564056, + -2725.3794901656397, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2584.4201597564056, + -2727.977566376993, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2585.9201597564056, + -2730.575642588346, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2587.4201597564056, + -2733.173718799699, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2588.9201597564056, + -2735.7717950110523, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2590.4201597564056, + -2738.3698712224054, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2591.9201597564056, + -2740.9679474337586, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2593.4201597564056, + -2743.5660236451117, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2594.9201597564056, + -2746.164099856465, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2596.4201597564056, + -2748.762176067818, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2597.9201597564056, + -2751.360252279171, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2599.4201597564056, + -2753.9583284905243, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2600.9201597564056, + -2756.5564047018775, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2602.4201597564056, + -2759.1544809132306, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2603.9201597564056, + -2761.7525571245837, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2605.4201597564056, + -2764.350633335937, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2606.9201597564056, + -2766.94870954729, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2608.4201597564056, + -2769.546785758643, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2609.9201597564056, + -2772.1448619699963, + 57.709791468564816 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2611.4201597564056, + -2774.7429381813495, + 57.709791468564816 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2620.0, + -2792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-56-0_318653156/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-56-0_318653156/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc707fa81c104f5e742fbff422385996ad582332 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-56-0_318653156/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -900.5745814944466, + 1254.7049639390045, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -900.5745814944466, + 1251.7049639390045, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -900.5745814944466, + 1248.7049639390045, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -900.5745814944466, + 1245.7049639390045, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -900.5745814944466, + 1242.7049639390045, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -900.5745814944466, + 1239.7049639390045, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -900.5745814944466, + 1236.7049639390045, + 50.552022773764456 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -900.5745814944466, + 1236.7049639390045, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -902.0745814944466, + 1234.1068877276512, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -903.5745814944466, + 1231.5088115162978, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -905.0745814944466, + 1228.9107353049444, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -906.5745814944466, + 1226.312659093591, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -908.0745814944466, + 1223.7145828822377, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -909.5745814944466, + 1221.1165066708843, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -911.0745814944466, + 1218.518430459531, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -912.5745814944466, + 1215.9203542481775, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -914.0745814944466, + 1213.3222780368242, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -915.5745814944466, + 1210.7242018254708, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -917.0745814944466, + 1208.1261256141174, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -918.5745814944466, + 1205.528049402764, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -920.0745814944466, + 1202.9299731914107, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -921.5745814944466, + 1200.3318969800573, + 50.552022773764456 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -921.5745814944466, + 1200.3318969800573, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -921.5745814944466, + 1197.3318969800573, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -921.5745814944466, + 1194.3318969800573, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -921.5745814944466, + 1191.3318969800573, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -921.5745814944466, + 1188.3318969800573, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -921.5745814944466, + 1185.3318969800573, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -921.5745814944466, + 1182.3318969800573, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -921.5745814944466, + 1179.3318969800573, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -921.5745814944466, + 1176.3318969800573, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -921.5745814944466, + 1173.3318969800573, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -921.5745814944466, + 1170.3318969800573, + 50.552022773764456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -921.5745814944466, + 1167.3318969800573, + 50.552022773764456 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -928.0, + 1152.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-59-3_842566590/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-59-3_842566590/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d25717d6c09314a88f045630c3da4376a8d8a3ac --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-59-3_842566590/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -931.4084784018777, + -1297.8506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -934.006554613231, + -1299.3506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -936.6046308245843, + -1300.8506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -939.2027070359377, + -1302.3506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -941.8007832472911, + -1303.8506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -944.3988594586444, + -1305.3506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -946.9969356699978, + -1306.8506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -949.5950118813512, + -1308.3506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -952.1930880927046, + -1309.8506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -954.7911643040579, + -1311.3506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -957.3892405154113, + -1312.8506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -959.9873167267647, + -1314.3506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -962.585392938118, + -1315.8506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -965.1834691494714, + -1317.3506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -967.7815453608248, + -1318.8506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -970.3796215721782, + -1320.3506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -972.9776977835315, + -1321.8506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -975.5757739948849, + -1323.3506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -978.1738502062383, + -1324.8506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -980.7719264175917, + -1326.3506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -983.370002628945, + -1327.8506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -985.9680788402984, + -1329.3506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -988.5661550516518, + -1330.8506977532525, + 46.545764817033955 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -991.1642312630051, + -1332.3506977532525, + 46.545764817033955 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1024.0, + -1352.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-8-47_1888520737/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-8-47_1888520737/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3df7f760e8371231ef423ec5303bab86b09407b5 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-8-47_1888520737/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4109.7302048260835, + -15.232746979015616, + 46.82164247471284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4109.7302048260835, + -12.232746979015616, + 46.82164247471284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4109.7302048260835, + -9.232746979015616, + 46.82164247471284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4109.7302048260835, + -6.232746979015616, + 46.82164247471284 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4109.7302048260835, + -3.232746979015616, + 46.82164247471284 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4116.0, + 92.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-9-16_571333576/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-9-16_571333576/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ac8750e65a5b55d0ef67ae7abd8e2f1d5847391 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-9-16_571333576/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2296.412502861021, + 2170.9459669483113, + 59.597599355572264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2296.412502861021, + 2167.9459669483113, + 59.597599355572264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2296.412502861021, + 2164.9459669483113, + 59.597599355572264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2296.412502861021, + 2161.9459669483113, + 59.597599355572264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2296.412502861021, + 2158.9459669483113, + 59.597599355572264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2296.412502861021, + 2155.9459669483113, + 59.597599355572264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2296.412502861021, + 2152.9459669483113, + 59.597599355572264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2296.412502861021, + 2149.9459669483113, + 59.597599355572264 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2296.412502861021, + 2146.9459669483113, + 59.597599355572264 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2296.412502861021, + 2146.9459669483113, + 59.597599355572264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2297.912502861021, + 2144.347890736958, + 59.597599355572264 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2299.412502861021, + 2141.749814525605, + 59.597599355572264 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2308.0, + 2068.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-9-26_807869145/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-9-26_807869145/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f1ecd36e4521358d6b376ce953c598205287e139 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_13-9-26_807869145/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -804.0985029042115, + -2516.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -804.0985029042115, + -2513.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -804.0985029042115, + -2510.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -804.0985029042115, + -2507.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -804.0985029042115, + -2504.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -804.0985029042115, + -2501.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -804.0985029042115, + -2498.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -804.0985029042115, + -2495.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -804.0985029042115, + -2492.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -804.0985029042115, + -2489.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -804.0985029042115, + -2486.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -804.0985029042115, + -2483.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -804.0985029042115, + -2480.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -804.0985029042115, + -2477.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -804.0985029042115, + -2474.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -804.0985029042115, + -2471.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -804.0985029042115, + -2468.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -804.0985029042115, + -2465.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -804.0985029042115, + -2462.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -804.0985029042115, + -2459.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -804.0985029042115, + -2456.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -804.0985029042115, + -2453.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -804.0985029042115, + -2450.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -804.0985029042115, + -2447.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -804.0985029042115, + -2444.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -804.0985029042115, + -2441.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -804.0985029042115, + -2438.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -804.0985029042115, + -2435.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -804.0985029042115, + -2432.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -804.0985029042115, + -2429.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -804.0985029042115, + -2426.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -804.0985029042115, + -2423.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -804.0985029042115, + -2420.497107293807, + 56.240792004616964 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -804.0985029042115, + -2417.497107293807, + 56.240792004616964 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -804.0, + -2388.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-0-26_1543260053/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-0-26_1543260053/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8dfbf23a2f7ce2dfd86b64440700c8bde1fa4e9e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-0-26_1543260053/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -897.7746519699153, + 1034.5778912721373, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -899.2746519699153, + 1037.1759674834907, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -900.7746519699153, + 1039.774043694844, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -902.2746519699153, + 1042.3721199061974, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -903.7746519699153, + 1044.9701961175508, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -905.2746519699153, + 1047.5682723289042, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -906.7746519699153, + 1050.1663485402576, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -908.2746519699153, + 1052.764424751611, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -909.7746519699153, + 1055.3625009629643, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -911.2746519699153, + 1057.9605771743177, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -912.7746519699153, + 1060.558653385671, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -914.2746519699153, + 1063.1567295970244, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -915.7746519699153, + 1065.7548058083778, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -917.2746519699153, + 1068.3528820197312, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -918.7746519699153, + 1070.9509582310845, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -920.2746519699153, + 1073.549034442438, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -921.7746519699153, + 1076.1471106537913, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -923.2746519699153, + 1078.7451868651447, + 64.42489585669841 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -923.2746519699153, + 1078.7451868651447, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -925.8727281812687, + 1080.2451868651447, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -928.4708043926221, + 1081.7451868651447, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -931.0688806039755, + 1083.2451868651447, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -933.6669568153288, + 1084.7451868651447, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -936.2650330266822, + 1086.2451868651447, + 64.42489585669841 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -938.8631092380356, + 1087.7451868651447, + 64.42489585669841 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -976.0, + 1132.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-1-19_1507629701/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-1-19_1507629701/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..455ca9f3ddda697fd2ba5ecb9e3f0e2ed23e12db --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-1-19_1507629701/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 871.3979714814612, + -250.19028263465333, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 872.8979714814612, + -252.78835884600664, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 874.3979714814612, + -255.38643505735996, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 875.8979714814612, + -257.9845112687133, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 877.3979714814612, + -260.5825874800666, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 878.8979714814612, + -263.1806636914199, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 880.3979714814612, + -265.7787399027732, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 881.8979714814612, + -268.37681611412654, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 883.3979714814612, + -270.97489232547986, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 884.8979714814612, + -273.5729685368332, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 886.3979714814612, + -276.1710447481865, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 887.8979714814612, + -278.7691209595398, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 889.3979714814612, + -281.3671971708931, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 890.8979714814612, + -283.96527338224644, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 892.3979714814612, + -286.56334959359975, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 893.8979714814612, + -289.16142580495307, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 895.3979714814612, + -291.7595020163064, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 896.8979714814612, + -294.3575782276597, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 898.3979714814612, + -296.955654439013, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 899.8979714814612, + -299.55373065036633, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 901.3979714814612, + -302.15180686171965, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 902.8979714814612, + -304.74988307307297, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 904.3979714814612, + -307.3479592844263, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 905.8979714814612, + -309.9460354957796, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 907.3979714814612, + -312.5441117071329, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 908.8979714814612, + -315.14218791848623, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 910.3979714814612, + -317.74026412983955, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 911.8979714814612, + -320.33834034119286, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 913.3979714814612, + -322.9364165525462, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 914.8979714814612, + -325.5344927638995, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 916.3979714814612, + -328.1325689752528, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 917.8979714814612, + -330.7306451866061, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 919.3979714814612, + -333.32872139795944, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 920.8979714814612, + -335.92679760931276, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 922.3979714814612, + -338.5248738206661, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 923.8979714814612, + -341.1229500320194, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 925.3979714814612, + -343.7210262433727, + 69.53442156401306 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 925.3979714814612, + -343.7210262433727, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 927.9960476928145, + -345.2210262433727, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 930.5941239041679, + -346.7210262433727, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 933.1922001155212, + -348.2210262433727, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 935.7902763268746, + -349.7210262433727, + 69.53442156401306 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 938.388352538228, + -351.2210262433727, + 69.53442156401306 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 944.0, + -364.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-1-45_1438573268/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-1-45_1438573268/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..62dabdb147f2b084131b62f1bf5f6b47a70baeed --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-1-45_1438573268/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -410.49783993189305, + -415.45364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -413.09591614324637, + -413.95364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -415.6939923545997, + -412.45364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -418.292068565953, + -410.95364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -420.8901447773063, + -409.45364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -423.48822098865963, + -407.95364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -426.08629720001295, + -406.45364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -428.68437341136627, + -404.95364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -431.2824496227196, + -403.45364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -433.8805258340729, + -401.95364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -436.4786020454262, + -400.45364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -439.07667825677953, + -398.95364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -441.67475446813285, + -397.45364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -444.27283067948616, + -395.95364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -446.8709068908395, + -394.45364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -449.4689831021928, + -392.95364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -452.0670593135461, + -391.45364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -454.6651355248994, + -389.95364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -457.26321173625274, + -388.45364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -459.86128794760606, + -386.95364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -462.4593641589594, + -385.45364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -465.0574403703127, + -383.95364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -467.655516581666, + -382.45364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -470.2535927930193, + -380.95364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -472.85166900437264, + -379.45364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -475.44974521572595, + -377.95364616142683, + 58.39352987179211 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -475.44974521572595, + -377.95364616142683, + 58.39352987179211 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -478.44974521572595, + -377.95364616142683, + 58.39352987179211 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -532.0, + -352.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-14-53_1877057460/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-14-53_1877057460/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..115cb4c30b2fafd58c98172aa167ea53edb68ec5 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-14-53_1877057460/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 380.4889234592246, + -2373.8068540553622, + 48.352577199456334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 377.4889234592246, + -2373.8068540553622, + 48.352577199456334 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 374.4889234592246, + -2373.8068540553622, + 48.352577199456334 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 260.0, + -2380.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-15-36_2132114218/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-15-36_2132114218/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16f9fa7269bb58041c1be444490674285da22e8f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-15-36_2132114218/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1786.2605276610034, + -448.9312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1789.2605276610034, + -448.9312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1792.2605276610034, + -448.9312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1795.2605276610034, + -448.9312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1798.2605276610034, + -448.9312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1801.2605276610034, + -448.9312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1804.2605276610034, + -448.9312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1807.2605276610034, + -448.9312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1810.2605276610034, + -448.9312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1813.2605276610034, + -448.9312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1816.2605276610034, + -448.9312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1819.2605276610034, + -448.9312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1822.2605276610034, + -448.9312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1825.2605276610034, + -448.9312804635681, + 42.45934659438606 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1825.2605276610034, + -448.9312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1827.8586038723568, + -447.4312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1830.4566800837101, + -445.9312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1833.0547562950635, + -444.4312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1835.6528325064169, + -442.9312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1838.2509087177702, + -441.4312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1840.8489849291236, + -439.9312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1843.447061140477, + -438.4312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1846.0451373518304, + -436.9312804635681, + 42.45934659438606 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1846.0451373518304, + -436.9312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1849.0451373518304, + -436.9312804635681, + 42.45934659438606 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1849.0451373518304, + -436.9312804635681, + 42.45934659438606 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1849.0451373518304, + -436.9312804635681, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1850.5451373518304, + -434.3332042522148, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1852.0451373518304, + -431.73512804086147, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1853.5451373518304, + -429.13705182950815, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1855.0451373518304, + -426.53897561815484, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1856.5451373518304, + -423.9408994068015, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1858.0451373518304, + -421.3428231954482, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1859.5451373518304, + -418.7447469840949, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1861.0451373518304, + -416.1466707727416, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1862.5451373518304, + -413.54859456138826, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1864.0451373518304, + -410.95051835003494, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1865.5451373518304, + -408.3524421386816, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1867.0451373518304, + -405.7543659273283, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1868.5451373518304, + -403.156289715975, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1870.0451373518304, + -400.5582135046217, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1871.5451373518304, + -397.96013729326836, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1873.0451373518304, + -395.36206108191504, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1874.5451373518304, + -392.7639848705617, + 42.45934659438606 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1876.0451373518304, + -390.1659086592084, + 42.45934659438606 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1908.0, + -368.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-16-26_806861727/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-16-26_806861727/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7fc521908d1029a4c60c87df0a9fdeeb43a27e31 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-16-26_806861727/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2215.6701224482704, + 330.3986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2218.6701224482704, + 330.3986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2221.6701224482704, + 330.3986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2224.6701224482704, + 330.3986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2227.6701224482704, + 330.3986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2230.6701224482704, + 330.3986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2233.6701224482704, + 330.3986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2236.6701224482704, + 330.3986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2239.6701224482704, + 330.3986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2242.6701224482704, + 330.3986120645425, + 60.6808285598068 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2242.6701224482704, + 330.3986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2245.2681986596235, + 331.8986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2247.8662748709767, + 333.3986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2250.46435108233, + 334.8986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2253.062427293683, + 336.3986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2255.660503505036, + 337.8986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2258.2585797163892, + 339.3986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2260.8566559277424, + 340.8986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2263.4547321390955, + 342.3986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2266.0528083504487, + 343.8986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2268.650884561802, + 345.3986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2271.248960773155, + 346.8986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2273.847036984508, + 348.3986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2276.4451131958613, + 349.8986120645425, + 60.6808285598068 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2276.4451131958613, + 349.8986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2279.4451131958613, + 349.8986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2282.4451131958613, + 349.8986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2285.4451131958613, + 349.8986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2288.4451131958613, + 349.8986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2291.4451131958613, + 349.8986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2294.4451131958613, + 349.8986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2297.4451131958613, + 349.8986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2300.4451131958613, + 349.8986120645425, + 60.6808285598068 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2303.4451131958613, + 349.8986120645425, + 60.6808285598068 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2324.0, + 352.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-20-40_939509589/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-20-40_939509589/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6802051365b29a5aba8fc0bbcbae7aeb66b37c33 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-20-40_939509589/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2689.5576551732925, + -1844.4746273459698, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2686.5576551732925, + -1844.4746273459698, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2683.5576551732925, + -1844.4746273459698, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2680.5576551732925, + -1844.4746273459698, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2677.5576551732925, + -1844.4746273459698, + 63.517760632677756 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2677.5576551732925, + -1844.4746273459698, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2674.9595789619393, + -1845.9746273459698, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2672.361502750586, + -1847.4746273459698, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2669.763426539233, + -1848.9746273459698, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2667.16535032788, + -1850.4746273459698, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2664.5672741165267, + -1851.9746273459698, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2661.9691979051736, + -1853.4746273459698, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2659.3711216938204, + -1854.9746273459698, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2656.7730454824673, + -1856.4746273459698, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2654.174969271114, + -1857.9746273459698, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2651.576893059761, + -1859.4746273459698, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2648.978816848408, + -1860.9746273459698, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2646.3807406370547, + -1862.4746273459698, + 63.517760632677756 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2646.3807406370547, + -1862.4746273459698, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2644.8807406370547, + -1865.0727035573232, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2643.3807406370547, + -1867.6707797686765, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2641.8807406370547, + -1870.26885598003, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2640.3807406370547, + -1872.8669321913833, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2638.8807406370547, + -1875.4650084027367, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2637.3807406370547, + -1878.06308461409, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2635.8807406370547, + -1880.6611608254434, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2634.3807406370547, + -1883.2592370367968, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2632.8807406370547, + -1885.8573132481501, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2631.3807406370547, + -1888.4553894595035, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2629.8807406370547, + -1891.053465670857, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2628.3807406370547, + -1893.6515418822103, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2626.8807406370547, + -1896.2496180935636, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2625.3807406370547, + -1898.847694304917, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2623.8807406370547, + -1901.4457705162704, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2622.3807406370547, + -1904.0438467276238, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2620.8807406370547, + -1906.6419229389771, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2619.3807406370547, + -1909.2399991503305, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2617.8807406370547, + -1911.8380753616839, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2616.3807406370547, + -1914.4361515730373, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2614.8807406370547, + -1917.0342277843906, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2613.3807406370547, + -1919.632303995744, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2611.8807406370547, + -1922.2303802070974, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2610.3807406370547, + -1924.8284564184507, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2608.8807406370547, + -1927.4265326298041, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2607.3807406370547, + -1930.0246088411575, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2605.8807406370547, + -1932.6226850525109, + 63.517760632677756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2604.3807406370547, + -1935.2207612638642, + 63.517760632677756 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2592.0, + -1952.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-30-37_2110750073/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-30-37_2110750073/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..25518046c0bc0566d50636cbdb3b0219d1e1d2cf --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-30-37_2110750073/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4862.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4859.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4856.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4853.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4850.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4847.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4844.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4841.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4838.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4835.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4832.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4829.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4826.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4823.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4820.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4817.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4814.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4811.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4808.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4805.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4802.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4799.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4796.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4793.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4790.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4787.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4784.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4781.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4778.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4775.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4772.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4769.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4766.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4763.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4760.713740606025, + 455.1454599015734, + 60.96852970859253 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4736.0, + 456.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-31-36_1036599722/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-31-36_1036599722/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8dc991dd63686a861584757f51c3748757751a02 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-31-36_1036599722/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 305.35718133573926, + -303.22524258635735, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 303.85718133573926, + -300.62716637500404, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 302.35718133573926, + -298.0290901636507, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 300.85718133573926, + -295.4310139522974, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 299.35718133573926, + -292.8329377409441, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 297.85718133573926, + -290.2348615295908, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 296.35718133573926, + -287.63678531823746, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 294.85718133573926, + -285.03870910688414, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 293.35718133573926, + -282.4406328955308, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 291.85718133573926, + -279.8425566841775, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 290.35718133573926, + -277.2444804728242, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 288.85718133573926, + -274.6464042614709, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 287.35718133573926, + -272.04832805011756, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 285.85718133573926, + -269.45025183876425, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 284.35718133573926, + -266.85217562741093, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 282.85718133573926, + -264.2540994160576, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 281.35718133573926, + -261.6560232047043, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 279.85718133573926, + -259.057946993351, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 278.35718133573926, + -256.45987078199767, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 276.85718133573926, + -253.86179457064435, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 275.35718133573926, + -251.26371835929103, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 273.85718133573926, + -248.66564214793772, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 272.35718133573926, + -246.0675659365844, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 270.85718133573926, + -243.46948972523109, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 269.35718133573926, + -240.87141351387777, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 267.85718133573926, + -238.27333730252445, + 55.000601181790216 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 267.85718133573926, + -238.27333730252445, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 265.25910512438594, + -236.77333730252445, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 262.6610289130326, + -235.27333730252445, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 260.0629527016793, + -233.77333730252445, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 257.464876490326, + -232.27333730252445, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 254.86680027897268, + -230.77333730252445, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 252.26872406761936, + -229.27333730252445, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 249.67064785626604, + -227.77333730252445, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 247.07257164491273, + -226.27333730252445, + 55.000601181790216 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 244.4744954335594, + -224.77333730252445, + 55.000601181790216 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 224.0, + -200.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-32-11_631481940/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-32-11_631481940/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da7fe6a4117c78a6f9d67d8b0008dad9928f2ad5 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-32-11_631481940/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4303.997700119645, + -2928.025815104376, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4306.997700119645, + -2928.025815104376, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4309.997700119645, + -2928.025815104376, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4312.997700119645, + -2928.025815104376, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4315.997700119645, + -2928.025815104376, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4318.997700119645, + -2928.025815104376, + 48.74947332305889 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4318.997700119645, + -2928.025815104376, + 48.74947332305889 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4318.997700119645, + -2928.025815104376, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4320.497700119645, + -2930.623891315729, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4321.997700119645, + -2933.221967527082, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4323.497700119645, + -2935.8200437384353, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4324.997700119645, + -2938.4181199497884, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4326.497700119645, + -2941.0161961611416, + 48.74947332305889 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4326.497700119645, + -2941.0161961611416, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4329.095776330998, + -2942.5161961611416, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4331.693852542351, + -2944.0161961611416, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4334.291928753704, + -2945.5161961611416, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4336.890004965057, + -2947.0161961611416, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4339.488081176411, + -2948.5161961611416, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4342.086157387764, + -2950.0161961611416, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4344.684233599117, + -2951.5161961611416, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4347.28230981047, + -2953.0161961611416, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4349.880386021823, + -2954.5161961611416, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4352.478462233176, + -2956.0161961611416, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4355.076538444529, + -2957.5161961611416, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4357.674614655883, + -2959.0161961611416, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4360.272690867236, + -2960.5161961611416, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4362.870767078589, + -2962.0161961611416, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4365.468843289942, + -2963.5161961611416, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4368.066919501295, + -2965.0161961611416, + 48.74947332305889 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4370.664995712648, + -2966.5161961611416, + 48.74947332305889 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4392.0, + -2976.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-37-2_2055201132/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-37-2_2055201132/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..972411d5ef703672ecf0b93cac26e96c3ae0e664 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-37-2_2055201132/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1612.3644689809935, + 984.0204153017262, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1613.8644689809935, + 981.4223390903728, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1615.3644689809935, + 978.8242628790194, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1616.8644689809935, + 976.2261866676661, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1618.3644689809935, + 973.6281104563127, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1619.8644689809935, + 971.0300342449593, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1621.3644689809935, + 968.431958033606, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1622.8644689809935, + 965.8338818222526, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1624.3644689809935, + 963.2358056108992, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1625.8644689809935, + 960.6377293995458, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1627.3644689809935, + 958.0396531881925, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1628.8644689809935, + 955.4415769768391, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1630.3644689809935, + 952.8435007654857, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1631.8644689809935, + 950.2454245541323, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1633.3644689809935, + 947.647348342779, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1634.8644689809935, + 945.0492721314256, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1636.3644689809935, + 942.4511959200722, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1637.8644689809935, + 939.8531197087189, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1639.3644689809935, + 937.2550434973655, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1640.8644689809935, + 934.6569672860121, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1642.3644689809935, + 932.0588910746587, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1643.8644689809935, + 929.4608148633054, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1645.3644689809935, + 926.862738651952, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1646.8644689809935, + 924.2646624405986, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1648.3644689809935, + 921.6665862292452, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1649.8644689809935, + 919.0685100178919, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1651.3644689809935, + 916.4704338065385, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1652.8644689809935, + 913.8723575951851, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1654.3644689809935, + 911.2742813838317, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1655.8644689809935, + 908.6762051724784, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1657.3644689809935, + 906.078128961125, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1658.8644689809935, + 903.4800527497716, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1660.3644689809935, + 900.8819765384183, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1661.8644689809935, + 898.2839003270649, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1663.3644689809935, + 895.6858241157115, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1664.8644689809935, + 893.0877479043581, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1666.3644689809935, + 890.4896716930048, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1667.8644689809935, + 887.8915954816514, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1669.3644689809935, + 885.293519270298, + 43.5498620415031 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1669.3644689809935, + 885.293519270298, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1669.3644689809935, + 882.293519270298, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1669.3644689809935, + 879.293519270298, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1669.3644689809935, + 876.293519270298, + 43.5498620415031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1669.3644689809935, + 873.293519270298, + 43.5498620415031 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1680.0, + 856.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-40-3_1922824791/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-40-3_1922824791/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..62f62738ef5ae1e49b5b0b1ce708936d9716ecb9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-40-3_1922824791/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1187.9607979056036, + -2518.6378783799946, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1186.4607979056036, + -2521.2359545913478, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1184.9607979056036, + -2523.834030802701, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1183.4607979056036, + -2526.432107014054, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1181.9607979056036, + -2529.030183225407, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1180.4607979056036, + -2531.6282594367603, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1178.9607979056036, + -2534.2263356481135, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1177.4607979056036, + -2536.8244118594666, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1175.9607979056036, + -2539.42248807082, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1174.4607979056036, + -2542.020564282173, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1172.9607979056036, + -2544.618640493526, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1171.4607979056036, + -2547.216716704879, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1169.9607979056036, + -2549.8147929162324, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1168.4607979056036, + -2552.4128691275855, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1166.9607979056036, + -2555.0109453389387, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1165.4607979056036, + -2557.609021550292, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1163.9607979056036, + -2560.207097761645, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1162.4607979056036, + -2562.805173972998, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1160.9607979056036, + -2565.4032501843512, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1159.4607979056036, + -2568.0013263957044, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1157.9607979056036, + -2570.5994026070575, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1156.4607979056036, + -2573.1974788184107, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1154.9607979056036, + -2575.795555029764, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1153.4607979056036, + -2578.393631241117, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1151.9607979056036, + -2580.99170745247, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1150.4607979056036, + -2583.5897836638233, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1148.9607979056036, + -2586.1878598751764, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1147.4607979056036, + -2588.7859360865295, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1145.9607979056036, + -2591.3840122978827, + 67.97796621403192 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1144.4607979056036, + -2593.982088509236, + 67.97796621403192 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1136.0, + -2612.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-41-38_1098168837/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-41-38_1098168837/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f2a1d8f1216da14360643800f5d8de37da754531 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-41-38_1098168837/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4500.9770053666925, + 502.52728293992226, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4503.9770053666925, + 502.52728293992226, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4506.9770053666925, + 502.52728293992226, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4509.9770053666925, + 502.52728293992226, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4512.9770053666925, + 502.52728293992226, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4515.9770053666925, + 502.52728293992226, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4518.9770053666925, + 502.52728293992226, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4521.9770053666925, + 502.52728293992226, + 69.05600400203836 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4521.9770053666925, + 502.52728293992226, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4524.575081578046, + 504.02728293992226, + 69.05600400203836 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4524.575081578046, + 504.02728293992226, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4526.075081578046, + 506.6253591512756, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4527.575081578046, + 509.2234353626289, + 69.05600400203836 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4527.575081578046, + 509.2234353626289, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4530.173157789399, + 510.7234353626289, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4532.771234000752, + 512.2234353626288, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983109 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4535.369310212105, + 513.7234353626288, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4537.967386423458, + 515.2234353626288, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4540.565462634811, + 516.7234353626288, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4543.163538846165, + 518.2234353626288, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4545.761615057518, + 519.7234353626288, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4548.359691268871, + 521.2234353626288, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4550.957767480224, + 522.7234353626288, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4553.555843691577, + 524.2234353626288, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4556.15391990293, + 525.7234353626288, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4558.751996114283, + 527.2234353626288, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4561.350072325637, + 528.7234353626288, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4563.94814853699, + 530.2234353626288, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4566.546224748343, + 531.7234353626288, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4569.144300959696, + 533.2234353626288, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4571.742377171049, + 534.7234353626288, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4574.340453382402, + 536.2234353626288, + 69.05600400203836 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4576.938529593755, + 537.7234353626288, + 69.05600400203836 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4600.0, + 548.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-43-31_1956021008/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-43-31_1956021008/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9291e29972a2dce12405596471a5043d6da9ae97 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-43-31_1956021008/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -792.157130005608, + -2451.4411472617717, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -789.5590537942546, + -2449.9411472617717, + 50.6732586362949 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -789.5590537942546, + -2449.9411472617717, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -788.0590537942546, + -2447.3430710504185, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -786.5590537942546, + -2444.7449948390654, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -785.0590537942546, + -2442.1469186277122, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -783.5590537942546, + -2439.548842416359, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -782.0590537942546, + -2436.950766205006, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -780.5590537942546, + -2434.352689993653, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -779.0590537942546, + -2431.7546137822997, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -777.5590537942546, + -2429.1565375709465, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -776.0590537942546, + -2426.5584613595934, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -774.5590537942546, + -2423.96038514824, + 50.6732586362949 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -774.5590537942546, + -2423.96038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982706 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -771.9609775829013, + -2422.46038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -769.3629013715479, + -2420.96038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -766.7648251601945, + -2419.46038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -764.1667489488411, + -2417.96038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -761.5686727374878, + -2416.46038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -758.9705965261344, + -2414.96038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -756.372520314781, + -2413.46038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -753.7744441034276, + -2411.96038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -751.1763678920743, + -2410.46038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -748.5782916807209, + -2408.96038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -745.9802154693675, + -2407.46038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -743.3821392580141, + -2405.96038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -740.7840630466608, + -2404.46038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -738.1859868353074, + -2402.96038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -735.587910623954, + -2401.46038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -732.9898344126007, + -2399.96038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -730.3917582012473, + -2398.46038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -727.7936819898939, + -2396.96038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -725.1956057785405, + -2395.46038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -722.5975295671872, + -2393.96038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -719.9994533558338, + -2392.46038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -717.4013771444804, + -2390.96038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -714.803300933127, + -2389.46038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -712.2052247217737, + -2387.96038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -709.6071485104203, + -2386.46038514824, + 50.6732586362949 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -707.0090722990669, + -2384.96038514824, + 50.6732586362949 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -688.0, + -2372.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-43-55_160715005/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-43-55_160715005/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05ce0659b997c4319cf2e9ac52a35ac882d725e3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-43-55_160715005/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4004.9178074679644, + 2045.3967057531477, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4007.5158836793175, + 2043.8967057531477, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4010.1139598906707, + 2042.3967057531477, + 68.1800510126709 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4010.1139598906707, + 2042.3967057531477, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4011.6139598906707, + 2039.7986295417943, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4013.1139598906707, + 2037.200553330441, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4014.6139598906707, + 2034.6024771190876, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4016.1139598906707, + 2032.0044009077342, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4017.6139598906707, + 2029.4063246963808, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4019.1139598906707, + 2026.8082484850274, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4020.6139598906707, + 2024.210172273674, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4022.1139598906707, + 2021.6120960623207, + 68.1800510126709 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4022.1139598906707, + 2021.6120960623207, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4022.1139598906707, + 2018.6120960623207, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4022.1139598906707, + 2015.6120960623207, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4022.1139598906707, + 2012.6120960623207, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4022.1139598906707, + 2009.6120960623207, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4022.1139598906707, + 2006.6120960623207, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4022.1139598906707, + 2003.6120960623207, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4022.1139598906707, + 2000.6120960623207, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4022.1139598906707, + 1997.6120960623207, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4022.1139598906707, + 1994.6120960623207, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4022.1139598906707, + 1991.6120960623207, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4022.1139598906707, + 1988.6120960623207, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4022.1139598906707, + 1985.6120960623207, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4022.1139598906707, + 1982.6120960623207, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4022.1139598906707, + 1979.6120960623207, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4022.1139598906707, + 1976.6120960623207, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4022.1139598906707, + 1973.6120960623207, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4022.1139598906707, + 1970.6120960623207, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4022.1139598906707, + 1967.6120960623207, + 68.1800510126709 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4022.1139598906707, + 1964.6120960623207, + 68.1800510126709 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4028.0, + 1940.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-48-36_337554739/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-48-36_337554739/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0eb4e52932aadc4765a3315a84af6548e6c8126 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-48-36_337554739/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1945.4930392559563, + 2140.5930039235254, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1943.9930392559563, + 2137.9949277121723, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1942.4930392559563, + 2135.396851500819, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1940.9930392559563, + 2132.798775289466, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1939.4930392559563, + 2130.200699078113, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1937.9930392559563, + 2127.6026228667597, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1936.4930392559563, + 2125.0045466554066, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1934.9930392559563, + 2122.4064704440534, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1933.4930392559563, + 2119.8083942327003, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1931.9930392559563, + 2117.210318021347, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1930.4930392559563, + 2114.612241809994, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1928.9930392559563, + 2112.014165598641, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1927.4930392559563, + 2109.4160893872877, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1925.9930392559563, + 2106.8180131759345, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1924.4930392559563, + 2104.2199369645814, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1922.9930392559563, + 2101.6218607532282, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1921.4930392559563, + 2099.023784541875, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1919.9930392559563, + 2096.425708330522, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1918.4930392559563, + 2093.827632119169, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1916.9930392559563, + 2091.2295559078157, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1915.4930392559563, + 2088.6314796964625, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1913.9930392559563, + 2086.0334034851094, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1912.4930392559563, + 2083.4353272737562, + 58.10712065721504 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1912.4930392559563, + 2083.4353272737562, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1912.4930392559563, + 2080.4353272737562, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1912.4930392559563, + 2077.4353272737562, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1912.4930392559563, + 2074.4353272737562, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1912.4930392559563, + 2071.4353272737562, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1912.4930392559563, + 2068.4353272737562, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1912.4930392559563, + 2065.4353272737562, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1912.4930392559563, + 2062.4353272737562, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1912.4930392559563, + 2059.4353272737562, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1912.4930392559563, + 2056.4353272737562, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1912.4930392559563, + 2053.4353272737562, + 58.10712065721504 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1912.4930392559563, + 2050.4353272737562, + 58.10712065721504 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1900.0, + 2012.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-48-57_108639282/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-48-57_108639282/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad66da0c58cd1701de0eb8a20b97ac61c198b24e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-48-57_108639282/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1740.3153112662117, + 807.2464482622692, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1741.8153112662117, + 804.6483720509159, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1743.3153112662117, + 802.0502958395625, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1744.8153112662117, + 799.4522196282091, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1746.3153112662117, + 796.8541434168558, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1747.8153112662117, + 794.2560672055024, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1749.3153112662117, + 791.657990994149, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1750.8153112662117, + 789.0599147827957, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1752.3153112662117, + 786.4618385714423, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1753.8153112662117, + 783.8637623600889, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1755.3153112662117, + 781.2656861487355, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1756.8153112662117, + 778.6676099373822, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1758.3153112662117, + 776.0695337260288, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1759.8153112662117, + 773.4714575146754, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1761.3153112662117, + 770.873381303322, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1762.8153112662117, + 768.2753050919687, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1764.3153112662117, + 765.6772288806153, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1765.8153112662117, + 763.0791526692619, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1767.3153112662117, + 760.4810764579086, + 53.26397182312146 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1767.3153112662117, + 760.4810764579086, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1767.3153112662117, + 757.4810764579086, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1767.3153112662117, + 754.4810764579086, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1767.3153112662117, + 751.4810764579086, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1767.3153112662117, + 748.4810764579086, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1767.3153112662117, + 745.4810764579086, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1767.3153112662117, + 742.4810764579086, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1767.3153112662117, + 739.4810764579086, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1767.3153112662117, + 736.4810764579086, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1767.3153112662117, + 733.4810764579086, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1767.3153112662117, + 730.4810764579086, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1767.3153112662117, + 727.4810764579086, + 53.26397182312146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1767.3153112662117, + 724.4810764579086, + 53.26397182312146 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1772.0, + 712.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-50-24_1811098165/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-50-24_1811098165/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a475fdc229929a68106bec3d956971e14f0d8fd0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-50-24_1811098165/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2569.0244707668053, + 1404.904296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2566.426394555452, + 1403.404296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2563.828318344099, + 1401.904296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2561.230242132746, + 1400.404296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2558.6321659213927, + 1398.904296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2556.0340897100396, + 1397.404296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2553.4360134986864, + 1395.904296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2550.8379372873333, + 1394.404296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2548.23986107598, + 1392.904296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2545.641784864627, + 1391.404296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2543.043708653274, + 1389.904296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2540.4456324419207, + 1388.404296765424, + 60.28727104608757 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2540.4456324419207, + 1388.404296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2537.4456324419207, + 1388.404296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2534.4456324419207, + 1388.404296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2531.4456324419207, + 1388.404296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2528.4456324419207, + 1388.404296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2525.4456324419207, + 1388.404296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2522.4456324419207, + 1388.404296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2519.4456324419207, + 1388.404296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2516.4456324419207, + 1388.404296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2513.4456324419207, + 1388.404296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2510.4456324419207, + 1388.404296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2507.4456324419207, + 1388.404296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2504.4456324419207, + 1388.404296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2501.4456324419207, + 1388.404296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2498.4456324419207, + 1388.404296765424, + 60.28727104608757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2495.4456324419207, + 1388.404296765424, + 60.28727104608757 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2444.0, + 1376.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-51-10_1024875909/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-51-10_1024875909/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad43848f5c48be35acb45ac94dfb2b1d34d99c28 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-51-10_1024875909/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1948.6834510079125, + -2164.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1948.6834510079125, + -2167.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1948.6834510079125, + -2170.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1948.6834510079125, + -2173.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1948.6834510079125, + -2176.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1948.6834510079125, + -2179.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1948.6834510079125, + -2182.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1948.6834510079125, + -2185.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1948.6834510079125, + -2188.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1948.6834510079125, + -2191.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1948.6834510079125, + -2194.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1948.6834510079125, + -2197.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1948.6834510079125, + -2200.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1948.6834510079125, + -2203.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1948.6834510079125, + -2206.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1948.6834510079125, + -2209.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1948.6834510079125, + -2212.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1948.6834510079125, + -2215.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1948.6834510079125, + -2218.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1948.6834510079125, + -2221.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1948.6834510079125, + -2224.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1948.6834510079125, + -2227.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1948.6834510079125, + -2230.916542984808, + 47.50016476397869 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1948.6834510079125, + -2230.916542984808, + 47.50016476397869 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1948.6834510079125, + -2230.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1946.085374796559, + -2232.416542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1943.4872985852057, + -2233.916542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1940.8892223738524, + -2235.416542984808, + 47.50016476397869 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1940.8892223738524, + -2235.416542984808, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1939.3892223738524, + -2238.014619196161, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1937.8892223738524, + -2240.6126954075144, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1936.3892223738524, + -2243.2107716188675, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1934.8892223738524, + -2245.8088478302207, + 47.50016476397869 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1933.3892223738524, + -2248.406924041574, + 47.50016476397869 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1932.0, + -2264.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-51-29_475555382/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-51-29_475555382/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7e7154c7d57064b2349bb82070a5be28b5a2e79c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-51-29_475555382/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1301.048064155111, + 547.8275423278842, + 46.20999888956908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1303.6461403664644, + 549.3275423278842, + 46.20999888956908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1306.2442165778177, + 550.8275423278842, + 46.20999888956908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1308.842292789171, + 552.3275423278842, + 46.20999888956908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1311.4403690005245, + 553.8275423278842, + 46.20999888956908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1314.0384452118778, + 555.3275423278842, + 46.20999888956908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1316.6365214232312, + 556.8275423278842, + 46.20999888956908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1319.2345976345846, + 558.3275423278842, + 46.20999888956908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1321.832673845938, + 559.8275423278842, + 46.20999888956908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1324.4307500572913, + 561.3275423278842, + 46.20999888956908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1327.0288262686447, + 562.8275423278842, + 46.20999888956908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1329.626902479998, + 564.3275423278842, + 46.20999888956908 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1332.2249786913515, + 565.8275423278842, + 46.20999888956908 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1396.0, + 608.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-51-41_229150462/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-51-41_229150462/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c408965321da8b4b76a6bc0e5f7f4427e80425a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-51-41_229150462/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2477.450357296256, + -2140.9552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2480.450357296256, + -2140.9552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2483.450357296256, + -2140.9552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2486.450357296256, + -2140.9552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2489.450357296256, + -2140.9552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2492.450357296256, + -2140.9552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2495.450357296256, + -2140.9552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2498.450357296256, + -2140.9552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2501.450357296256, + -2140.9552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2504.450357296256, + -2140.9552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2507.450357296256, + -2140.9552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2510.450357296256, + -2140.9552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2513.450357296256, + -2140.9552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2516.450357296256, + -2140.9552299020206, + 50.691298124079005 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2516.450357296256, + -2140.9552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2519.048433507609, + -2142.4552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2521.646509718962, + -2143.9552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2524.244585930315, + -2145.4552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2526.8426621416684, + -2146.9552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2529.4407383530215, + -2148.4552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2532.0388145643747, + -2149.9552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2534.636890775728, + -2151.4552299020206, + 50.691298124079005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2537.234966987081, + -2152.9552299020206, + 50.691298124079005 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2576.0, + -2160.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-53-3_1115519640/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-53-3_1115519640/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..110cee1e5be6c337a24d42089ec63643d78a0c4a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-53-3_1115519640/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1793.2977447197202, + -42.420792653707636, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1794.7977447197202, + -45.01886886506095, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1796.2977447197202, + -47.61694507641427, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1797.7977447197202, + -50.215021287767584, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1799.2977447197202, + -52.8130974991209, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1800.7977447197202, + -55.411173710474216, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1802.2977447197202, + -58.00924992182753, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1803.7977447197202, + -60.60732613318085, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1805.2977447197202, + -63.205402344534164, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1806.7977447197202, + -65.80347855588748, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1808.2977447197202, + -68.4015547672408, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1809.7977447197202, + -70.99963097859411, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1811.2977447197202, + -73.59770718994743, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1812.7977447197202, + -76.19578340130074, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1814.2977447197202, + -78.79385961265406, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1815.7977447197202, + -81.39193582400738, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1817.2977447197202, + -83.99001203536069, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1818.7977447197202, + -86.58808824671401, + 44.984172276935674 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1818.7977447197202, + -86.58808824671401, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1818.7977447197202, + -89.58808824671401, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1818.7977447197202, + -92.58808824671401, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1818.7977447197202, + -95.58808824671401, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1818.7977447197202, + -98.58808824671401, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1818.7977447197202, + -101.58808824671401, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1818.7977447197202, + -104.58808824671401, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1818.7977447197202, + -107.58808824671401, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1818.7977447197202, + -110.58808824671401, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1818.7977447197202, + -113.58808824671401, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1818.7977447197202, + -116.58808824671401, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1818.7977447197202, + -119.58808824671401, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1818.7977447197202, + -122.58808824671401, + 44.984172276935674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1818.7977447197202, + -125.58808824671401, + 44.984172276935674 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1824.0, + -144.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-55-2_419708675/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-55-2_419708675/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..041e668ad16f9c52b67e764058f9ae2a9250b717 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-55-2_419708675/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2919.1697408347, + -2324.1449689545875, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2920.6697408347, + -2326.7430451659407, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2922.1697408347, + -2329.341121377294, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2923.6697408347, + -2331.939197588647, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2925.1697408347, + -2334.5372738, + 40.484724128319186 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2925.1697408347, + -2334.5372738, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915224 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2927.767817046053, + -2336.0372738, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2930.3658932574062, + -2337.5372738, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2932.9639694687594, + -2339.0372738, + 40.484724128319186 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2932.9639694687594, + -2339.0372738, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2935.9639694687594, + -2339.0372738, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2938.9639694687594, + -2339.0372738, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2941.9639694687594, + -2339.0372738, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2944.9639694687594, + -2339.0372738, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2947.9639694687594, + -2339.0372738, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2950.9639694687594, + -2339.0372738, + 40.484724128319186 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2950.9639694687594, + -2339.0372738, + 40.484724128319186 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2950.9639694687594, + -2339.0372738, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2952.4639694687594, + -2341.6353500113532, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2953.9639694687594, + -2344.2334262227064, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2955.4639694687594, + -2346.8315024340595, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2956.9639694687594, + -2349.4295786454127, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2958.4639694687594, + -2352.027654856766, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2959.9639694687594, + -2354.625731068119, + 40.484724128319186 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2959.9639694687594, + -2354.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2959.9639694687594, + -2357.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2959.9639694687594, + -2360.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2959.9639694687594, + -2363.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2959.9639694687594, + -2366.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2959.9639694687594, + -2369.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2959.9639694687594, + -2372.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2959.9639694687594, + -2375.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2959.9639694687594, + -2378.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2959.9639694687594, + -2381.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2959.9639694687594, + -2384.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2959.9639694687594, + -2387.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2959.9639694687594, + -2390.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2959.9639694687594, + -2393.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2959.9639694687594, + -2396.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2959.9639694687594, + -2399.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2959.9639694687594, + -2402.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2959.9639694687594, + -2405.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2959.9639694687594, + -2408.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2959.9639694687594, + -2411.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2959.9639694687594, + -2414.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -2959.9639694687594, + -2417.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -2959.9639694687594, + -2420.625731068119, + 40.484724128319186 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -2959.9639694687594, + -2420.625731068119, + 40.484724128319186 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -2961.4639694687594, + -2423.223807279472, + 40.484724128319186 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2972.0, + -2448.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-6-46_1793588849/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-6-46_1793588849/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81287a8297ef8d99d108eb845a66ade0b9e92b7e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-6-46_1793588849/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1408.7008345507656, + -2811.6183172471565, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1411.7008345507656, + -2811.6183172471565, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1414.7008345507656, + -2811.6183172471565, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1417.7008345507656, + -2811.6183172471565, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1420.7008345507656, + -2811.6183172471565, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1423.7008345507656, + -2811.6183172471565, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1426.7008345507656, + -2811.6183172471565, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1429.7008345507656, + -2811.6183172471565, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1432.7008345507656, + -2811.6183172471565, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1435.7008345507656, + -2811.6183172471565, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1438.7008345507656, + -2811.6183172471565, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1441.7008345507656, + -2811.6183172471565, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1444.7008345507656, + -2811.6183172471565, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1447.7008345507656, + -2811.6183172471565, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1450.7008345507656, + -2811.6183172471565, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1453.7008345507656, + -2811.6183172471565, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1456.7008345507656, + -2811.6183172471565, + 51.205324466440786 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1456.7008345507656, + -2811.6183172471565, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1459.298910762119, + -2813.1183172471565, + 51.205324466440786 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1459.298910762119, + -2813.1183172471565, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1460.798910762119, + -2815.7163934585096, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1462.298910762119, + -2818.314469669863, + 51.205324466440786 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1462.298910762119, + -2818.314469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1464.8969869734724, + -2819.814469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1467.4950631848258, + -2821.314469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1470.0931393961791, + -2822.814469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1472.6912156075325, + -2824.314469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1475.2892918188859, + -2825.814469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1477.8873680302393, + -2827.314469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1480.4854442415926, + -2828.814469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1483.083520452946, + -2830.314469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1485.6815966642994, + -2831.814469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1488.2796728756528, + -2833.314469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1490.8777490870061, + -2834.814469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1493.4758252983595, + -2836.314469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1496.0739015097129, + -2837.814469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1498.6719777210662, + -2839.314469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1501.2700539324196, + -2840.814469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1503.868130143773, + -2842.314469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1506.4662063551264, + -2843.814469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1509.0642825664797, + -2845.314469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1511.662358777833, + -2846.814469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1514.2604349891865, + -2848.314469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1516.8585112005399, + -2849.814469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1519.4565874118932, + -2851.314469669863, + 51.205324466440786 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1522.0546636232466, + -2852.814469669863, + 51.205324466440786 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1544.0, + -2860.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-7-33_1012354718/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-7-33_1012354718/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2247c12cb1c0155e01a9a11dfb58963939573177 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_14-7-33_1012354718/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1744.0305418260825, + -2608.6508319922496, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1742.5305418260825, + -2611.2489082036027, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1741.0305418260825, + -2613.846984414956, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1739.5305418260825, + -2616.445060626309, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1738.0305418260825, + -2619.043136837662, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1736.5305418260825, + -2621.6412130490153, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1735.0305418260825, + -2624.2392892603684, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1733.5305418260825, + -2626.8373654717216, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1732.0305418260825, + -2629.4354416830747, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1730.5305418260825, + -2632.033517894428, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1729.0305418260825, + -2634.631594105781, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1727.5305418260825, + -2637.229670317134, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1726.0305418260825, + -2639.8277465284873, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1724.5305418260825, + -2642.4258227398404, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1723.0305418260825, + -2645.0238989511936, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1721.5305418260825, + -2647.6219751625467, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1720.0305418260825, + -2650.2200513739, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1718.5305418260825, + -2652.818127585253, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1717.0305418260825, + -2655.416203796606, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1715.5305418260825, + -2658.0142800079593, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1714.0305418260825, + -2660.6123562193125, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1712.5305418260825, + -2663.2104324306656, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1711.0305418260825, + -2665.8085086420188, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1709.5305418260825, + -2668.406584853372, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1708.0305418260825, + -2671.004661064725, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1706.5305418260825, + -2673.602737276078, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1705.0305418260825, + -2676.2008134874313, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1703.5305418260825, + -2678.7988896987845, + 59.920657367907985 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1703.5305418260825, + -2678.7988896987845, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1703.5305418260825, + -2681.7988896987845, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1703.5305418260825, + -2684.7988896987845, + 59.920657367907985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1703.5305418260825, + -2687.7988896987845, + 59.920657367907985 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1688.0, + -2716.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-0-23_205523763/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-0-23_205523763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06e1e8f02f2186cd569307041dbcc7838729892b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-0-23_205523763/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 897.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 894.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 891.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 888.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 885.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 882.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 879.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 876.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 873.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 870.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 867.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 864.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 861.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 858.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 855.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 852.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 849.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 846.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 843.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 840.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 837.9031298635348, + 390.4293488469513, + 54.29505568446221 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 772.0, + 388.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-16-39_381831590/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-16-39_381831590/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6c22694db48b05ca77760c60b8f7c59478de0125 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-16-39_381831590/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 58.2378992316431, + -1847.4063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 55.63982302028978, + -1848.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 53.041746808936466, + -1850.4063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 50.44367059758315, + -1851.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 47.845594386229834, + -1853.4063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 45.24751817487652, + -1854.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 42.6494419635232, + -1856.4063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 40.051365752169886, + -1857.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 37.45328954081657, + -1859.4063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 34.855213329463254, + -1860.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 32.25713711810994, + -1862.4063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 29.659060906756622, + -1863.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 27.060984695403306, + -1865.4063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 24.46290848404999, + -1866.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 21.864832272696674, + -1868.4063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 19.266756061343358, + -1869.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 16.668679849990042, + -1871.4063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 14.070603638636726, + -1872.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 11.47252742728341, + -1874.4063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 8.874451215930094, + -1875.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 6.276375004576778, + -1877.4063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3.678298793223462, + -1878.9063467365654, + 58.469298160851935 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3.678298793223462, + -1878.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 0.6782987932234619, + -1878.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2.321701206776538, + -1878.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -5.321701206776538, + -1878.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -8.321701206776538, + -1878.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -11.321701206776538, + -1878.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -14.321701206776538, + -1878.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -17.321701206776538, + -1878.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -20.321701206776538, + -1878.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -23.321701206776538, + -1878.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -26.321701206776538, + -1878.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -29.321701206776538, + -1878.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -32.32170120677654, + -1878.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -35.32170120677654, + -1878.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -38.32170120677654, + -1878.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -41.32170120677654, + -1878.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -44.32170120677654, + -1878.9063467365654, + 58.469298160851935 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -47.32170120677654, + -1878.9063467365654, + 58.469298160851935 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -84.0, + -1888.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-2-34_947921995/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-2-34_947921995/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a70fe601ad3f9f15056e815dd0a5d38c1365805d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-2-34_947921995/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 607.862234390881, + -2226.595090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 604.862234390881, + -2226.595090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 601.862234390881, + -2226.595090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 598.862234390881, + -2226.595090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 595.862234390881, + -2226.595090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 592.862234390881, + -2226.595090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 589.862234390881, + -2226.595090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 586.862234390881, + -2226.595090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 583.862234390881, + -2226.595090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 580.862234390881, + -2226.595090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 577.862234390881, + -2226.595090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 574.862234390881, + -2226.595090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 571.862234390881, + -2226.595090652923, + 44.19183978206757 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 571.862234390881, + -2226.595090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 569.2641581795276, + -2225.095090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 566.6660819681742, + -2223.595090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 564.0680057568209, + -2222.095090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 561.4699295454675, + -2220.595090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 558.8718533341141, + -2219.095090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 556.2737771227607, + -2217.595090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 553.6757009114074, + -2216.095090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 551.077624700054, + -2214.595090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 548.4795484887006, + -2213.095090652923, + 44.19183978206757 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 548.4795484887006, + -2213.095090652923, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 546.9795484887006, + -2210.4970144415697, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 545.4795484887006, + -2207.8989382302166, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 543.9795484887006, + -2205.3008620188634, + 44.19183978206757 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 542.4795484887006, + -2202.7027858075103, + 44.19183978206757 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 500.0, + -2184.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-20-48_26262331/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-20-48_26262331/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc87b88a3abeb7790909101b1aa3c9b5dcf2fa43 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-20-48_26262331/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4326.920970600933, + 1009.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4326.920970600933, + 1006.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4326.920970600933, + 1003.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4326.920970600933, + 1000.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4326.920970600933, + 997.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4326.920970600933, + 994.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4326.920970600933, + 991.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4326.920970600933, + 988.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4326.920970600933, + 985.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4326.920970600933, + 982.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4326.920970600933, + 979.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4326.920970600933, + 976.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4326.920970600933, + 973.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4326.920970600933, + 970.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4326.920970600933, + 967.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4326.920970600933, + 964.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4326.920970600933, + 961.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4326.920970600933, + 958.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4326.920970600933, + 955.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4326.920970600933, + 952.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4326.920970600933, + 949.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4326.920970600933, + 946.9545909879699, + 64.9974508916524 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4326.920970600933, + 946.9545909879699, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4328.420970600933, + 944.3565147766167, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4329.920970600933, + 941.7584385652633, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4331.420970600933, + 939.1603623539099, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4332.920970600933, + 936.5622861425566, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4334.420970600933, + 933.9642099312032, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4335.920970600933, + 931.3661337198498, + 64.9974508916524 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4337.420970600933, + 928.7680575084964, + 64.9974508916524 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4340.0, + 880.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-21-41_667702941/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-21-41_667702941/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9f05d765498936e56a3706a009d40545e85697d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-21-41_667702941/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 307.88687511791835, + -2183.1153482477, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 309.38687511791835, + -2185.713424459053, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 310.88687511791835, + -2188.311500670406, + 44.721066633209716 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 310.88687511791835, + -2188.311500670406, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 310.88687511791835, + -2191.311500670406, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 310.88687511791835, + -2194.311500670406, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 310.88687511791835, + -2197.311500670406, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 310.88687511791835, + -2200.311500670406, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 310.88687511791835, + -2203.311500670406, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 310.88687511791835, + -2206.311500670406, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 310.88687511791835, + -2209.311500670406, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 310.88687511791835, + -2212.311500670406, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 310.88687511791835, + -2215.311500670406, + 44.721066633209716 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 310.88687511791835, + -2215.311500670406, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 309.38687511791835, + -2217.909576881759, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 307.88687511791835, + -2220.5076530931124, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 306.38687511791835, + -2223.1057293044655, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 304.88687511791835, + -2225.7038055158187, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 303.38687511791835, + -2228.301881727172, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 301.88687511791835, + -2230.899957938525, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 300.38687511791835, + -2233.498034149878, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 298.88687511791835, + -2236.0961103612312, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 297.38687511791835, + -2238.6941865725844, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 295.88687511791835, + -2241.2922627839375, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 294.38687511791835, + -2243.8903389952907, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 292.88687511791835, + -2246.488415206644, + 44.721066633209716 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 292.88687511791835, + -2246.488415206644, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915224 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 290.28879890656503, + -2247.988415206644, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 287.6907226952117, + -2249.488415206644, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 285.0926464838584, + -2250.988415206644, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 282.4945702725051, + -2252.488415206644, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 279.89649406115177, + -2253.988415206644, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 277.29841784979845, + -2255.488415206644, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 274.70034163844514, + -2256.988415206644, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 272.1022654270918, + -2258.488415206644, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 269.5041892157385, + -2259.988415206644, + 44.721066633209716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 266.9061130043852, + -2261.488415206644, + 44.721066633209716 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 256.0, + -2288.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-22-50_1332205740/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-22-50_1332205740/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e19edb4522ee332e8c049141c59864061662d26 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-22-50_1332205740/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2058.7462137382895, + 1946.226795353613, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2055.7462137382895, + 1946.226795353613, + 43.05108994919728 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2055.7462137382895, + 1946.226795353613, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2053.1481375269364, + 1947.726795353613, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2050.550061315583, + 1949.226795353613, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2047.9519851042298, + 1950.726795353613, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2045.3539088928765, + 1952.226795353613, + 43.05108994919728 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2045.3539088928765, + 1952.226795353613, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2043.8539088928765, + 1954.8248715649663, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2042.3539088928765, + 1957.4229477763197, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2040.8539088928765, + 1960.021023987673, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2039.3539088928765, + 1962.6191001990264, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2037.8539088928765, + 1965.2171764103798, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2036.3539088928765, + 1967.8152526217332, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2034.8539088928765, + 1970.4133288330866, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2033.3539088928765, + 1973.01140504444, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2031.8539088928765, + 1975.6094812557933, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2030.3539088928765, + 1978.2075574671467, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2028.8539088928765, + 1980.8056336785, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2027.3539088928765, + 1983.4037098898534, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2025.8539088928765, + 1986.0017861012068, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2024.3539088928765, + 1988.5998623125602, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2022.8539088928765, + 1991.1979385239135, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2021.3539088928765, + 1993.796014735267, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2019.8539088928765, + 1996.3940909466203, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2018.3539088928765, + 1998.9921671579737, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2016.8539088928765, + 2001.590243369327, + 43.05108994919728 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2016.8539088928765, + 2001.590243369327, + 43.05108994919728 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2014.255832681523, + 2003.090243369327, + 43.05108994919728 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1972.0, + 2056.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-23-55_1148521726/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-23-55_1148521726/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04d03f404708546803848d11c99ff3bd41709a14 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-23-55_1148521726/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -498.92430873683804, + -164.13145608786073, + 62.004565175967215 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -501.52238494819136, + -165.63145608786073, + 62.004565175967215 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -504.1204611595447, + -167.13145608786073, + 62.004565175967215 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -506.718537370898, + -168.63145608786073, + 62.004565175967215 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -509.3166135822513, + -170.13145608786073, + 62.004565175967215 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -511.9146897936046, + -171.63145608786073, + 62.004565175967215 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -514.5127660049579, + -173.13145608786073, + 62.004565175967215 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -517.1108422163113, + -174.63145608786073, + 62.004565175967215 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -519.7089184276647, + -176.13145608786073, + 62.004565175967215 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -522.3069946390181, + -177.63145608786073, + 62.004565175967215 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -524.9050708503714, + -179.13145608786073, + 62.004565175967215 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -527.5031470617248, + -180.63145608786073, + 62.004565175967215 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -604.0, + -216.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-23-8_1185037200/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-23-8_1185037200/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81ddff45b6258620b7822afd187ca538cc8110c2 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-23-8_1185037200/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1306.0314702462558, + -1174.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1306.0314702462558, + -1171.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1306.0314702462558, + -1168.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1306.0314702462558, + -1165.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1306.0314702462558, + -1162.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1306.0314702462558, + -1159.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1306.0314702462558, + -1156.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1306.0314702462558, + -1153.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1306.0314702462558, + -1150.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1306.0314702462558, + -1147.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1306.0314702462558, + -1144.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1306.0314702462558, + -1141.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1306.0314702462558, + -1138.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1306.0314702462558, + -1135.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1306.0314702462558, + -1132.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1306.0314702462558, + -1129.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1306.0314702462558, + -1126.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1306.0314702462558, + -1123.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1306.0314702462558, + -1120.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1306.0314702462558, + -1117.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1306.0314702462558, + -1114.7701153202463, + 59.348010867383465 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1306.0314702462558, + -1114.7701153202463, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1307.5314702462558, + -1112.172039108893, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1309.0314702462558, + -1109.5739628975396, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1310.5314702462558, + -1106.9758866861862, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1312.0314702462558, + -1104.3778104748328, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1313.5314702462558, + -1101.7797342634794, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1315.0314702462558, + -1099.181658052126, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1316.5314702462558, + -1096.5835818407727, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1318.0314702462558, + -1093.9855056294193, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1319.5314702462558, + -1091.387429418066, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1321.0314702462558, + -1088.7893532067126, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1322.5314702462558, + -1086.1912769953592, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1324.0314702462558, + -1083.5932007840058, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1325.5314702462558, + -1080.9951245726525, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1327.0314702462558, + -1078.397048361299, + 59.348010867383465 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1328.5314702462558, + -1075.7989721499457, + 59.348010867383465 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1336.0, + -1052.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-25-13_1751737835/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-25-13_1751737835/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ad9a5253f60b73a69c5e554c53ca6f9c1958a8a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-25-13_1751737835/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3788.511259550882, + 408.53861652166154, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3790.011259550882, + 411.13669273301485, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3791.511259550882, + 413.73476894436817, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3793.011259550882, + 416.3328451557215, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3794.511259550882, + 418.9309213670748, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3796.011259550882, + 421.5289975784281, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3797.511259550882, + 424.12707378978143, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3799.011259550882, + 426.72515000113475, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3800.511259550882, + 429.32322621248807, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3802.011259550882, + 431.9213024238414, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3803.511259550882, + 434.5193786351947, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3805.011259550882, + 437.117454846548, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3806.511259550882, + 439.71553105790133, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3808.011259550882, + 442.31360726925465, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3809.511259550882, + 444.91168348060796, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3811.011259550882, + 447.5097596919613, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3812.511259550882, + 450.1078359033146, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3814.011259550882, + 452.7059121146679, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3815.511259550882, + 455.3039883260212, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3817.011259550882, + 457.90206453737454, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3818.511259550882, + 460.50014074872786, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3820.011259550882, + 463.0982169600812, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3821.511259550882, + 465.6962931714345, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3823.011259550882, + 468.2943693827878, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3824.511259550882, + 470.8924455941411, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3826.011259550882, + 473.49052180549444, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3827.511259550882, + 476.08859801684775, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3829.011259550882, + 478.68667422820107, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3830.511259550882, + 481.2847504395544, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3832.011259550882, + 483.8828266509077, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3833.511259550882, + 486.480902862261, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3835.011259550882, + 489.07897907361433, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3836.511259550882, + 491.67705528496765, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3838.011259550882, + 494.27513149632097, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3839.511259550882, + 496.8732077076743, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3841.011259550882, + 499.4712839190276, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3842.511259550882, + 502.0693601303809, + 60.85096190073686 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3844.011259550882, + 504.66743634173423, + 60.85096190073686 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3852.0, + 524.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-26-30_151984537/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-26-30_151984537/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9849dc012a4c7b0e5b061158b3b8f87ceca4c8e4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-26-30_151984537/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3844.194208551184, + 251.13720697781463, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3844.194208551184, + 254.13720697781463, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3844.194208551184, + 257.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3844.194208551184, + 260.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3844.194208551184, + 263.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3844.194208551184, + 266.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3844.194208551184, + 269.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3844.194208551184, + 272.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3844.194208551184, + 275.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3844.194208551184, + 278.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3844.194208551184, + 281.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3844.194208551184, + 284.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3844.194208551184, + 287.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3844.194208551184, + 290.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3844.194208551184, + 293.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3844.194208551184, + 296.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3844.194208551184, + 299.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3844.194208551184, + 302.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3844.194208551184, + 305.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3844.194208551184, + 308.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3844.194208551184, + 311.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3844.194208551184, + 314.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3844.194208551184, + 317.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3844.194208551184, + 320.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3844.194208551184, + 323.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3844.194208551184, + 326.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3844.194208551184, + 329.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3844.194208551184, + 332.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3844.194208551184, + 335.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3844.194208551184, + 338.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3844.194208551184, + 341.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3844.194208551184, + 344.1372069778146, + 43.779454966503174 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3844.194208551184, + 344.1372069778146, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3845.694208551184, + 346.73528318916794, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3847.194208551184, + 349.33335940052126, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3848.694208551184, + 351.9314356118746, + 43.779454966503174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3850.194208551184, + 354.5295118232279, + 43.779454966503174 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3852.0, + 384.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-34-33_1931875017/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-34-33_1931875017/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..38bb35a9b2f5d0f104d2dac00e5ada36613c716b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-34-33_1931875017/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2554.262323974908, + 1769.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2554.262323974908, + 1772.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2554.262323974908, + 1775.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2554.262323974908, + 1778.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2554.262323974908, + 1781.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2554.262323974908, + 1784.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2554.262323974908, + 1787.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2554.262323974908, + 1790.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2554.262323974908, + 1793.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2554.262323974908, + 1796.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2554.262323974908, + 1799.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2554.262323974908, + 1802.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2554.262323974908, + 1805.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2554.262323974908, + 1808.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2554.262323974908, + 1811.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2554.262323974908, + 1814.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2554.262323974908, + 1817.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2554.262323974908, + 1820.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2554.262323974908, + 1823.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2554.262323974908, + 1826.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2554.262323974908, + 1829.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2554.262323974908, + 1832.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2554.262323974908, + 1835.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2554.262323974908, + 1838.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2554.262323974908, + 1841.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2554.262323974908, + 1844.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2554.262323974908, + 1847.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2554.262323974908, + 1850.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2554.262323974908, + 1853.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2554.262323974908, + 1856.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2554.262323974908, + 1859.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2554.262323974908, + 1862.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2554.262323974908, + 1865.9394411379453, + 50.278430922434296 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2554.262323974908, + 1865.9394411379453, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2555.762323974908, + 1868.5375173492987, + 50.278430922434296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2557.262323974908, + 1871.135593560652, + 50.278430922434296 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2560.0, + 1896.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-35-18_646346768/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-35-18_646346768/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..829af38a178d795e94a442c6808a486d32466580 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-35-18_646346768/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2841.688755582396, + 2404.8841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2844.286831793749, + 2403.3841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2846.8849080051023, + 2401.8841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2849.4829842164554, + 2400.3841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2852.0810604278086, + 2398.8841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2854.6791366391617, + 2397.3841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2857.277212850515, + 2395.8841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2859.875289061868, + 2394.3841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2862.473365273221, + 2392.8841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2865.0714414845743, + 2391.3841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2867.6695176959274, + 2389.8841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2870.2675939072806, + 2388.3841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2872.8656701186337, + 2386.8841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2875.463746329987, + 2385.3841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2878.06182254134, + 2383.8841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2880.659898752693, + 2382.3841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2883.2579749640463, + 2380.8841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2885.8560511753994, + 2379.3841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2888.4541273867526, + 2377.8841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2891.0522035981057, + 2376.3841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2893.650279809459, + 2374.8841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2896.248356020812, + 2373.3841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2898.846432232165, + 2371.8841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2901.4445084435183, + 2370.3841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2904.0425846548715, + 2368.8841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2906.6406608662246, + 2367.3841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2909.2387370775778, + 2365.8841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2911.836813288931, + 2364.3841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2914.434889500284, + 2362.8841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2917.032965711637, + 2361.3841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2919.6310419229903, + 2359.8841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2922.2291181343435, + 2358.3841412438287, + 43.70615837843104 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2922.2291181343435, + 2358.3841412438287, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2923.7291181343435, + 2355.7860650324756, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2925.2291181343435, + 2353.1879888211224, + 43.70615837843104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2926.7291181343435, + 2350.5899126097693, + 43.70615837843104 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2948.0, + 2336.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-36-46_1652743364/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-36-46_1652743364/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..55a95d88990294e832958e1c1c243cd4d7df6110 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-36-46_1652743364/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -539.5993372901193, + 1119.6769943305756, + 41.52244843224552 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -539.5993372901193, + 1122.6769943305756, + 41.52244843224552 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -539.5993372901193, + 1125.6769943305756, + 41.52244843224552 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -539.5993372901193, + 1128.6769943305756, + 41.52244843224552 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -539.5993372901193, + 1131.6769943305756, + 41.52244843224552 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -539.5993372901193, + 1134.6769943305756, + 41.52244843224552 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -539.5993372901193, + 1137.6769943305756, + 41.52244843224552 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -539.5993372901193, + 1140.6769943305756, + 41.52244843224552 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -539.5993372901193, + 1143.6769943305756, + 41.52244843224552 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -539.5993372901193, + 1146.6769943305756, + 41.52244843224552 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -539.5993372901193, + 1149.6769943305756, + 41.52244843224552 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -539.5993372901193, + 1152.6769943305756, + 41.52244843224552 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -539.5993372901193, + 1155.6769943305756, + 41.52244843224552 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -539.5993372901193, + 1155.6769943305756, + 41.52244843224552 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -538.0993372901193, + 1158.275070541929, + 41.52244843224552 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -536.5993372901193, + 1160.8731467532823, + 41.52244843224552 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -535.0993372901193, + 1163.4712229646357, + 41.52244843224552 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -533.5993372901193, + 1166.069299175989, + 41.52244843224552 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -532.0993372901193, + 1168.6673753873424, + 41.52244843224552 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -530.5993372901193, + 1171.2654515986958, + 41.52244843224552 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -516.0, + 1236.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-39-44_485463645/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-39-44_485463645/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a14572211cecec11bb1d3cde1c5b568fdb288ac1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-39-44_485463645/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 588.4508617067896, + 471.7050746711968, + 40.116310327168094 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 585.8527854954364, + 470.2050746711968, + 40.116310327168094 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 583.254709284083, + 468.7050746711968, + 40.116310327168094 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 580.6566330727296, + 467.2050746711968, + 40.116310327168094 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 578.0585568613762, + 465.7050746711968, + 40.116310327168094 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 575.4604806500229, + 464.2050746711968, + 40.116310327168094 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 572.8624044386695, + 462.7050746711968, + 40.116310327168094 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 570.2643282273161, + 461.2050746711968, + 40.116310327168094 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 567.6662520159628, + 459.7050746711968, + 40.116310327168094 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 565.0681758046094, + 458.2050746711968, + 40.116310327168094 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 562.470099593256, + 456.7050746711968, + 40.116310327168094 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 559.8720233819026, + 455.2050746711968, + 40.116310327168094 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 559.8720233819026, + 455.2050746711968, + 40.116310327168094 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 558.3720233819026, + 452.6069984598435, + 40.116310327168094 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 492.0, + 408.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-4-22_18186358/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-4-22_18186358/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79b4d4b8598eb2afb9fcfd247008ee8413586553 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-4-22_18186358/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -507.9591012372275, + -2133.443648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -510.55717744858083, + -2131.943648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -513.1552536599341, + -2130.443648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -515.7533298712874, + -2128.943648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -518.3514060826408, + -2127.443648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -520.9494822939942, + -2125.943648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -523.5475585053475, + -2124.443648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -526.1456347167009, + -2122.943648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -528.7437109280543, + -2121.443648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -531.3417871394076, + -2119.943648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -533.939863350761, + -2118.443648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -536.5379395621144, + -2116.943648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -539.1360157734678, + -2115.443648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -541.7340919848211, + -2113.943648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -544.3321681961745, + -2112.443648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -546.9302444075279, + -2110.943648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -549.5283206188813, + -2109.443648377017, + 56.71622303226272 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -549.5283206188813, + -2109.443648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -552.5283206188813, + -2109.443648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -555.5283206188813, + -2109.443648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -558.5283206188813, + -2109.443648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -561.5283206188813, + -2109.443648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -564.5283206188813, + -2109.443648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -567.5283206188813, + -2109.443648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -570.5283206188813, + -2109.443648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -573.5283206188813, + -2109.443648377017, + 56.71622303226272 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -573.5283206188813, + -2109.443648377017, + 56.71622303226272 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -576.1263968302346, + -2107.943648377017, + 56.71622303226272 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -604.0, + -2096.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-41-9_1126260595/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-41-9_1126260595/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e66b78f176af30d1c4b9f32e30082e0a7ed8e8f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-41-9_1126260595/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -115.97153198026218, + -2383.237938824962, + 51.00153619628799 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -112.97153198026218, + -2383.237938824962, + 51.00153619628799 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -109.97153198026218, + -2383.237938824962, + 51.00153619628799 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -106.97153198026218, + -2383.237938824962, + 51.00153619628799 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -103.97153198026218, + -2383.237938824962, + 51.00153619628799 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -100.97153198026218, + -2383.237938824962, + 51.00153619628799 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -97.97153198026218, + -2383.237938824962, + 51.00153619628799 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -94.97153198026218, + -2383.237938824962, + 51.00153619628799 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -91.97153198026218, + -2383.237938824962, + 51.00153619628799 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -88.97153198026218, + -2383.237938824962, + 51.00153619628799 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -85.97153198026218, + -2383.237938824962, + 51.00153619628799 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -82.97153198026218, + -2383.237938824962, + 51.00153619628799 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -79.97153198026218, + -2383.237938824962, + 51.00153619628799 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -76.97153198026218, + -2383.237938824962, + 51.00153619628799 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -73.97153198026218, + -2383.237938824962, + 51.00153619628799 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -73.97153198026218, + -2383.237938824962, + 51.00153619628799 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -71.37345576890887, + -2381.737938824962, + 51.00153619628799 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -68.77537955755555, + -2380.237938824962, + 51.00153619628799 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -66.17730334620224, + -2378.737938824962, + 51.00153619628799 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -63.57922713484892, + -2377.237938824962, + 51.00153619628799 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -60.981150923495605, + -2375.737938824962, + 51.00153619628799 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -58.38307471214229, + -2374.237938824962, + 51.00153619628799 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -4.0, + -2364.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-5-42_311721459/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-5-42_311721459/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..385a247fdef3aebd68e854cbcabc4be62d7d805b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-5-42_311721459/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1836.0433783877716, + -442.1597258186492, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1838.641454599125, + -440.6597258186492, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1841.2395308104783, + -439.1597258186492, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1843.8376070218317, + -437.6597258186492, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1846.435683233185, + -436.1597258186492, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1849.0337594445384, + -434.6597258186492, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1851.6318356558918, + -433.1597258186492, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1854.2299118672452, + -431.6597258186492, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1856.8279880785985, + -430.1597258186492, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1859.426064289952, + -428.6597258186492, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1862.0241405013053, + -427.1597258186492, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1864.6222167126587, + -425.6597258186492, + 46.3577834231124 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1864.6222167126587, + -425.6597258186492, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1866.1222167126587, + -423.06164960729586, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1867.6222167126587, + -420.46357339594255, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1869.1222167126587, + -417.86549718458923, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1870.6222167126587, + -415.2674209732359, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1872.1222167126587, + -412.6693447618826, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1873.6222167126587, + -410.0712685505293, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1875.1222167126587, + -407.47319233917597, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1876.6222167126587, + -404.87511612782265, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1878.1222167126587, + -402.27703991646933, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1879.6222167126587, + -399.678963705116, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1881.1222167126587, + -397.0808874937627, + 46.3577834231124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1882.6222167126587, + -394.4828112824094, + 46.3577834231124 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1908.0, + -368.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-9-55_1052818916/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-9-55_1052818916/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f2b5684ad353dcf065a52edbc16737784cac8a32 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_15-9-55_1052818916/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2402.973387088449, + 1602.816524432302, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2400.3753108770957, + 1604.316524432302, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2397.7772346657425, + 1605.816524432302, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2395.1791584543894, + 1607.316524432302, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2392.5810822430362, + 1608.816524432302, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2389.983006031683, + 1610.316524432302, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2387.38492982033, + 1611.816524432302, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2384.786853608977, + 1613.316524432302, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2382.1887773976237, + 1614.816524432302, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2379.5907011862705, + 1616.316524432302, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2376.9926249749174, + 1617.816524432302, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2374.394548763564, + 1619.316524432302, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2371.796472552211, + 1620.816524432302, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2369.198396340858, + 1622.316524432302, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2366.600320129505, + 1623.816524432302, + 61.04625592446446 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2366.600320129505, + 1623.816524432302, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2365.100320129505, + 1626.4146006436554, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2363.600320129505, + 1629.0126768550087, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2362.100320129505, + 1631.6107530663621, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2360.600320129505, + 1634.2088292777155, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2359.100320129505, + 1636.8069054890689, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2357.600320129505, + 1639.4049817004222, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2356.100320129505, + 1642.0030579117756, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2354.600320129505, + 1644.601134123129, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2353.100320129505, + 1647.1992103344824, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2351.600320129505, + 1649.7972865458357, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2350.100320129505, + 1652.395362757189, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2348.600320129505, + 1654.9934389685425, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2347.100320129505, + 1657.5915151798959, + 61.04625592446446 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2345.600320129505, + 1660.1895913912492, + 61.04625592446446 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2316.0, + 1692.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-0-40_794452111/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-0-40_794452111/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd42084eaec7cf18f3f9e22429ffde270513250e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-0-40_794452111/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2571.8650430084194, + 187.81147180609568, + 52.58241031557206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2568.8650430084194, + 187.81147180609568, + 52.58241031557206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2565.8650430084194, + 187.81147180609568, + 52.58241031557206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2562.8650430084194, + 187.81147180609568, + 52.58241031557206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2559.8650430084194, + 187.81147180609568, + 52.58241031557206 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2559.8650430084194, + 187.81147180609568, + 52.58241031557206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2557.2669667970663, + 189.31147180609568, + 52.58241031557206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2554.668890585713, + 190.81147180609568, + 52.58241031557206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2552.07081437436, + 192.31147180609568, + 52.58241031557206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2549.472738163007, + 193.81147180609568, + 52.58241031557206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2546.8746619516537, + 195.31147180609568, + 52.58241031557206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2544.2765857403006, + 196.81147180609568, + 52.58241031557206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2541.6785095289474, + 198.31147180609568, + 52.58241031557206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2539.0804333175943, + 199.81147180609568, + 52.58241031557206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2536.482357106241, + 201.31147180609568, + 52.58241031557206 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2536.482357106241, + 201.31147180609568, + 52.58241031557206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2533.482357106241, + 201.31147180609568, + 52.58241031557206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2530.482357106241, + 201.31147180609568, + 52.58241031557206 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2464.0, + 224.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-10-59_1190503441/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-10-59_1190503441/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..abd35ddb08873b1fa190237cde6a2f95b222ea00 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-10-59_1190503441/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3031.6590002579187, + -660.478294823576, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3034.257076469272, + -658.978294823576, + 61.214885505754566 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3034.257076469272, + -658.978294823576, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3035.757076469272, + -656.3802186122227, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3037.257076469272, + -653.7821424008694, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3038.757076469272, + -651.184066189516, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3040.257076469272, + -648.5859899781626, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3041.757076469272, + -645.9879137668092, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3043.257076469272, + -643.3898375554559, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3044.757076469272, + -640.7917613441025, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3046.257076469272, + -638.1936851327491, + 61.214885505754566 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3046.257076469272, + -638.1936851327491, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3048.855152680625, + -636.6936851327491, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3051.453228891978, + -635.1936851327491, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3054.0513051033313, + -633.6936851327491, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3056.6493813146844, + -632.1936851327491, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3059.2474575260376, + -630.6936851327491, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3061.8455337373907, + -629.1936851327491, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3064.443609948744, + -627.6936851327491, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3067.041686160097, + -626.1936851327491, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3069.63976237145, + -624.6936851327491, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3072.2378385828033, + -623.1936851327491, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3074.8359147941565, + -621.6936851327491, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3077.4339910055096, + -620.1936851327491, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3080.0320672168627, + -618.6936851327491, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3082.630143428216, + -617.1936851327491, + 61.214885505754566 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3082.630143428216, + -617.1936851327491, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3084.130143428216, + -614.5956089213958, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3085.630143428216, + -611.9975327100424, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3087.130143428216, + -609.399456498689, + 61.214885505754566 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3087.130143428216, + -609.399456498689, + 61.214885505754566 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3087.130143428216, + -609.399456498689, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3090.130143428216, + -609.399456498689, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3093.130143428216, + -609.399456498689, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3096.130143428216, + -609.399456498689, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3099.130143428216, + -609.399456498689, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3102.130143428216, + -609.399456498689, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3105.130143428216, + -609.399456498689, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3108.130143428216, + -609.399456498689, + 61.214885505754566 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3111.130143428216, + -609.399456498689, + 61.214885505754566 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3120.0, + -604.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-12-32_1598171894/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-12-32_1598171894/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d472b5d069f1b0249c4803766a241821c950bd6f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-12-32_1598171894/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 985.0281286373489, + -1558.509903006531, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 985.0281286373489, + -1555.509903006531, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 985.0281286373489, + -1552.509903006531, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 985.0281286373489, + -1549.509903006531, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 985.0281286373489, + -1546.509903006531, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 985.0281286373489, + -1543.509903006531, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 985.0281286373489, + -1540.509903006531, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 985.0281286373489, + -1537.509903006531, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 985.0281286373489, + -1534.509903006531, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 985.0281286373489, + -1531.509903006531, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 985.0281286373489, + -1528.509903006531, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 985.0281286373489, + -1525.509903006531, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 985.0281286373489, + -1522.509903006531, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 985.0281286373489, + -1519.509903006531, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 985.0281286373489, + -1516.509903006531, + 44.49455252155527 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 985.0281286373489, + -1516.509903006531, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 983.5281286373489, + -1513.9118267951776, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 982.0281286373489, + -1511.3137505838242, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 980.5281286373489, + -1508.7156743724709, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 979.0281286373489, + -1506.1175981611175, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 977.5281286373489, + -1503.519521949764, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 976.0281286373489, + -1500.9214457384107, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 974.5281286373489, + -1498.3233695270574, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 973.0281286373489, + -1495.725293315704, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 971.5281286373489, + -1493.1272171043506, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 970.0281286373489, + -1490.5291408929972, + 44.49455252155527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 968.5281286373489, + -1487.9310646816439, + 44.49455252155527 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 960.0, + -1456.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-13-46_1469543483/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-13-46_1469543483/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..65f95b93750adf2c04a2b6dc6cac6b6005f8814d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-13-46_1469543483/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1050.7013443564815, + 104.49172641124186, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1052.2013443564815, + 101.89365019988854, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1053.7013443564815, + 99.29557398853522, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1055.2013443564815, + 96.69749777718191, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1056.7013443564815, + 94.09942156582859, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1058.2013443564815, + 91.50134535447528, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1059.7013443564815, + 88.90326914312196, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1061.2013443564815, + 86.30519293176864, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1062.7013443564815, + 83.70711672041533, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1064.2013443564815, + 81.10904050906201, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1065.7013443564815, + 78.5109642977087, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1067.2013443564815, + 75.91288808635538, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1068.7013443564815, + 73.31481187500206, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1070.2013443564815, + 70.71673566364875, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1071.7013443564815, + 68.11865945229543, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1073.2013443564815, + 65.52058324094212, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1074.7013443564815, + 62.9225070295888, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1076.2013443564815, + 60.324430818235484, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1077.7013443564815, + 57.72635460688217, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1079.2013443564815, + 55.12827839552885, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1080.7013443564815, + 52.530202184175536, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1082.2013443564815, + 49.93212597282222, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1083.7013443564815, + 47.334049761468904, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1085.2013443564815, + 44.73597355011559, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1086.7013443564815, + 42.13789733876227, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1088.2013443564815, + 39.539821127408956, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1089.7013443564815, + 36.94174491605564, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1091.2013443564815, + 34.343668704702324, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1092.7013443564815, + 31.745592493349008, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1094.2013443564815, + 29.147516281995692, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1095.7013443564815, + 26.549440070642376, + 57.39789065935426 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1095.7013443564815, + 26.549440070642376, + 57.39789065935426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1095.7013443564815, + 23.549440070642376, + 57.39789065935426 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1108.0, + -4.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-15-56_1872285314/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-15-56_1872285314/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a45cfcaedf0bfd3626f10c03d3c1e869f273ec68 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-15-56_1872285314/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2039.2004837108695, + 442.1345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2036.2004837108695, + 442.1345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2033.2004837108695, + 442.1345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2030.2004837108695, + 442.1345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2027.2004837108695, + 442.1345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2024.2004837108695, + 442.1345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2021.2004837108695, + 442.1345060810359, + 40.72472920794335 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2021.2004837108695, + 442.1345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2018.6024074995162, + 443.6345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2016.0043312881628, + 445.1345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2013.4062550768094, + 446.6345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2010.808178865456, + 448.1345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2008.2101026541027, + 449.6345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2005.6120264427493, + 451.1345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2003.013950231396, + 452.6345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2000.4158740200426, + 454.1345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1997.8177978086892, + 455.6345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1995.2197215973358, + 457.1345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1992.6216453859824, + 458.6345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1990.023569174629, + 460.1345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1987.4254929632757, + 461.6345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1984.8274167519223, + 463.1345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1982.229340540569, + 464.6345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1979.6312643292156, + 466.1345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1977.0331881178622, + 467.6345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1974.4351119065088, + 469.1345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1971.8370356951555, + 470.6345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1969.238959483802, + 472.1345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1966.6408832724487, + 473.6345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1964.0428070610953, + 475.1345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1961.444730849742, + 476.6345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1958.8466546383886, + 478.1345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1956.2485784270352, + 479.6345060810359, + 40.72472920794335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1953.6505022156819, + 481.1345060810359, + 40.72472920794335 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1940.0, + 488.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-16-17_1051527998/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-16-17_1051527998/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b55e9821cd3081e1cefcf4f829a62b9701e7d91 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-16-17_1051527998/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -767.7052134858716, + 812.6701852792065, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -769.2052134858716, + 815.2682614905598, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -770.7052134858716, + 817.8663377019132, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -772.2052134858716, + 820.4644139132665, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -773.7052134858716, + 823.0624901246199, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -775.2052134858716, + 825.6605663359733, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -776.7052134858716, + 828.2586425473266, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -778.2052134858716, + 830.85671875868, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -779.7052134858716, + 833.4547949700334, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -781.2052134858716, + 836.0528711813868, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -782.7052134858716, + 838.6509473927401, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -784.2052134858716, + 841.2490236040935, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -785.7052134858716, + 843.8470998154469, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -787.2052134858716, + 846.4451760268003, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -788.7052134858716, + 849.0432522381536, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -790.2052134858716, + 851.641328449507, + 68.2429896642934 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -790.2052134858716, + 851.641328449507, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -792.803289697225, + 853.141328449507, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -795.4013659085783, + 854.641328449507, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -797.9994421199317, + 856.141328449507, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -800.5975183312851, + 857.641328449507, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -803.1955945426384, + 859.141328449507, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -805.7936707539918, + 860.641328449507, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -808.3917469653452, + 862.141328449507, + 68.2429896642934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -810.9898231766986, + 863.641328449507, + 68.2429896642934 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -832.0, + 892.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-17-37_1727671564/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-17-37_1727671564/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..21ad69c6bf90dcabb98a590ff5fd4d53cb079ef3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-17-37_1727671564/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1376.4684223610734, + 1195.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1376.4684223610734, + 1192.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1376.4684223610734, + 1189.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1376.4684223610734, + 1186.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1376.4684223610734, + 1183.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1376.4684223610734, + 1180.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1376.4684223610734, + 1177.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1376.4684223610734, + 1174.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1376.4684223610734, + 1171.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1376.4684223610734, + 1168.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1376.4684223610734, + 1165.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1376.4684223610734, + 1162.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1376.4684223610734, + 1159.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1376.4684223610734, + 1156.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1376.4684223610734, + 1153.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1376.4684223610734, + 1150.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1376.4684223610734, + 1147.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1376.4684223610734, + 1144.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1376.4684223610734, + 1141.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1376.4684223610734, + 1138.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1376.4684223610734, + 1135.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1376.4684223610734, + 1132.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1376.4684223610734, + 1129.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1376.4684223610734, + 1126.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1376.4684223610734, + 1123.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1376.4684223610734, + 1120.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1376.4684223610734, + 1117.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1376.4684223610734, + 1114.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1376.4684223610734, + 1111.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1376.4684223610734, + 1108.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1376.4684223610734, + 1105.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1376.4684223610734, + 1102.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1376.4684223610734, + 1099.7033397456664, + 47.905753911032825 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1376.4684223610734, + 1099.7033397456664, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1374.9684223610734, + 1097.105263534313, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1373.4684223610734, + 1094.5071873229597, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1371.9684223610734, + 1091.9091111116063, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1370.4684223610734, + 1089.311034900253, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1368.9684223610734, + 1086.7129586888996, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1367.4684223610734, + 1084.1148824775462, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1365.9684223610734, + 1081.5168062661928, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1364.4684223610734, + 1078.9187300548394, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1362.9684223610734, + 1076.320653843486, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1361.4684223610734, + 1073.7225776321327, + 47.905753911032825 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1359.9684223610734, + 1071.1245014207793, + 47.905753911032825 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1356.0, + 1060.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-19-24_1155785752/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-19-24_1155785752/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..730a69d3e8a089b04b9ae92f11d24f3ddac93aae --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-19-24_1155785752/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2368.0114385537236, + -2062.287139631764, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2365.4133623423704, + -2060.787139631764, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2362.8152861310173, + -2059.287139631764, + 53.01672730009944 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2362.8152861310173, + -2059.287139631764, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2361.3152861310173, + -2056.689063420411, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2359.8152861310173, + -2054.090987209058, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2358.3152861310173, + -2051.4929109977047, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2356.8152861310173, + -2048.8948347863516, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2355.3152861310173, + -2046.2967585749982, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2353.8152861310173, + -2043.6986823636448, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2352.3152861310173, + -2041.1006061522914, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2350.8152861310173, + -2038.502529940938, + 53.01672730009944 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2350.8152861310173, + -2038.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2350.8152861310173, + -2035.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2350.8152861310173, + -2032.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2350.8152861310173, + -2029.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2350.8152861310173, + -2026.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2350.8152861310173, + -2023.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2350.8152861310173, + -2020.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2350.8152861310173, + -2017.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2350.8152861310173, + -2014.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2350.8152861310173, + -2011.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2350.8152861310173, + -2008.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2350.8152861310173, + -2005.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2350.8152861310173, + -2002.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2350.8152861310173, + -1999.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2350.8152861310173, + -1996.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2350.8152861310173, + -1993.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2350.8152861310173, + -1990.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2350.8152861310173, + -1987.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2350.8152861310173, + -1984.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2350.8152861310173, + -1981.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2350.8152861310173, + -1978.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2350.8152861310173, + -1975.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2350.8152861310173, + -1972.502529940938, + 53.01672730009944 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2350.8152861310173, + -1969.502529940938, + 53.01672730009944 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2348.0, + -1944.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-22-55_625728906/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-22-55_625728906/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fafe58cbeb89822868ebb1ff8a24efd4e8241b17 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-22-55_625728906/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4069.8645023387744, + 447.2645058885098, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4071.3645023387744, + 449.8625820998631, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4072.8645023387744, + 452.46065831121643, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4074.3645023387744, + 455.05873452256975, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4075.8645023387744, + 457.65681073392307, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4077.3645023387744, + 460.2548869452764, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4078.8645023387744, + 462.8529631566297, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4080.3645023387744, + 465.451039367983, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4081.8645023387744, + 468.04911557933633, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4083.3645023387744, + 470.64719179068965, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4084.8645023387744, + 473.24526800204296, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4086.3645023387744, + 475.8433442133963, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4087.8645023387744, + 478.4414204247496, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4089.3645023387744, + 481.0394966361029, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4090.8645023387744, + 483.6375728474562, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4092.3645023387744, + 486.23564905880954, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4093.8645023387744, + 488.83372527016286, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4095.3645023387744, + 491.4318014815162, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4096.864502338774, + 494.0298776928695, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4098.364502338774, + 496.6279539042228, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4099.864502338774, + 499.2260301155761, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4101.364502338774, + 501.82410632692944, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4102.864502338774, + 504.42218253828275, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4104.364502338774, + 507.02025874963607, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4105.864502338774, + 509.6183349609894, + 45.14081292726338 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4105.864502338774, + 509.6183349609894, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4105.864502338774, + 512.6183349609894, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4105.864502338774, + 515.6183349609894, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4105.864502338774, + 518.6183349609894, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4105.864502338774, + 521.6183349609894, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4105.864502338774, + 524.6183349609894, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4105.864502338774, + 527.6183349609894, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4105.864502338774, + 530.6183349609894, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4105.864502338774, + 533.6183349609894, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4105.864502338774, + 536.6183349609894, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4105.864502338774, + 539.6183349609894, + 45.14081292726338 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4105.864502338774, + 542.6183349609894, + 45.14081292726338 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4120.0, + 580.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-26-32_1793895841/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-26-32_1793895841/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1824f32bea5a9dd73bd50b8cd93ddb7d9ca7e346 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-26-32_1793895841/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 370.3983230876187, + -254.8116092856224, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 373.3983230876187, + -254.8116092856224, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 376.3983230876187, + -254.8116092856224, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 379.3983230876187, + -254.8116092856224, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 382.3983230876187, + -254.8116092856224, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 385.3983230876187, + -254.8116092856224, + 42.340132924226694 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 385.3983230876187, + -254.8116092856224, + 42.340132924226694 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 385.3983230876187, + -254.8116092856224, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 386.8983230876187, + -257.4096854969757, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 388.3983230876187, + -260.00776170832904, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 389.8983230876187, + -262.60583791968236, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 391.3983230876187, + -265.2039141310357, + 42.340132924226694 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 391.3983230876187, + -265.2039141310357, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 393.996399298972, + -266.7039141310357, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 396.5944755103253, + -268.2039141310357, + 42.340132924226694 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 396.5944755103253, + -268.2039141310357, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 399.5944755103253, + -268.2039141310357, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 402.5944755103253, + -268.2039141310357, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 405.5944755103253, + -268.2039141310357, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 408.5944755103253, + -268.2039141310357, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 411.5944755103253, + -268.2039141310357, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 414.5944755103253, + -268.2039141310357, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 417.5944755103253, + -268.2039141310357, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 420.5944755103253, + -268.2039141310357, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 423.5944755103253, + -268.2039141310357, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 426.5944755103253, + -268.2039141310357, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 429.5944755103253, + -268.2039141310357, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 432.5944755103253, + -268.2039141310357, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 435.5944755103253, + -268.2039141310357, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 438.5944755103253, + -268.2039141310357, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 441.5944755103253, + -268.2039141310357, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 444.5944755103253, + -268.2039141310357, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 447.5944755103253, + -268.2039141310357, + 42.340132924226694 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 450.5944755103253, + -268.2039141310357, + 42.340132924226694 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 472.0, + -272.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-28-54_351450250/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-28-54_351450250/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f94b16c002d39720b7484e575805c4fe9f7d10be --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-28-54_351450250/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3134.2884126170875, + -2791.554590155566, + 52.460833325622126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3131.2884126170875, + -2791.554590155566, + 52.460833325622126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3128.2884126170875, + -2791.554590155566, + 52.460833325622126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3125.2884126170875, + -2791.554590155566, + 52.460833325622126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3122.2884126170875, + -2791.554590155566, + 52.460833325622126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3119.2884126170875, + -2791.554590155566, + 52.460833325622126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3116.2884126170875, + -2791.554590155566, + 52.460833325622126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3113.2884126170875, + -2791.554590155566, + 52.460833325622126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3110.2884126170875, + -2791.554590155566, + 52.460833325622126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3107.2884126170875, + -2791.554590155566, + 52.460833325622126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3104.2884126170875, + -2791.554590155566, + 52.460833325622126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3101.2884126170875, + -2791.554590155566, + 52.460833325622126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3098.2884126170875, + -2791.554590155566, + 52.460833325622126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3095.2884126170875, + -2791.554590155566, + 52.460833325622126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3092.2884126170875, + -2791.554590155566, + 52.460833325622126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3089.2884126170875, + -2791.554590155566, + 52.460833325622126 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3089.2884126170875, + -2791.554590155566, + 52.460833325622126 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3089.2884126170875, + -2791.554590155566, + 52.460833325622126 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3087.7884126170875, + -2788.956513944213, + 52.460833325622126 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3086.2884126170875, + -2786.35843773286, + 52.460833325622126 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3084.7884126170875, + -2783.7603615215066, + 52.460833325622126 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3083.2884126170875, + -2781.1622853101535, + 52.460833325622126 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3083.2884126170875, + -2781.1622853101535, + 52.460833325622126 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3080.6903364057343, + -2779.6622853101535, + 52.460833325622126 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915224 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3016.0, + -2764.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-29-9_922802942/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-29-9_922802942/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f675083a498f700dc8a5ae7c1872cccb413e585 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-29-9_922802942/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1338.843062231556, + -2108.7461691756153, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1338.843062231556, + -2105.7461691756153, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1338.843062231556, + -2102.7461691756153, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1338.843062231556, + -2099.7461691756153, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1338.843062231556, + -2096.7461691756153, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1338.843062231556, + -2093.7461691756153, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1338.843062231556, + -2090.7461691756153, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1338.843062231556, + -2087.7461691756153, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1338.843062231556, + -2084.7461691756153, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1338.843062231556, + -2081.7461691756153, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1338.843062231556, + -2078.7461691756153, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1338.843062231556, + -2075.7461691756153, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1338.843062231556, + -2072.7461691756153, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1338.843062231556, + -2069.7461691756153, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1338.843062231556, + -2066.7461691756153, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1338.843062231556, + -2063.7461691756153, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1338.843062231556, + -2060.7461691756153, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1338.843062231556, + -2057.7461691756153, + 49.219178536019456 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1338.843062231556, + -2057.7461691756153, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1337.343062231556, + -2055.148092964262, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1335.843062231556, + -2052.550016752909, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1334.343062231556, + -2049.951940541556, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1332.843062231556, + -2047.3538643302024, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1331.343062231556, + -2044.755788118849, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1329.843062231556, + -2042.1577119074957, + 49.219178536019456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1328.343062231556, + -2039.5596356961423, + 49.219178536019456 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1320.0, + -2008.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-3-19_1361478979/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-3-19_1361478979/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94a4a65f8e6e5540063f3289f98b9311a41c67c3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-3-19_1361478979/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4130.437229468351, + 626.3504333655352, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4127.839153256998, + 627.8504333655352, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4125.2410770456445, + 629.3504333655352, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4122.643000834291, + 630.8504333655352, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4120.044924622938, + 632.3504333655352, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4117.446848411585, + 633.8504333655352, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4114.848772200232, + 635.3504333655352, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4112.250695988879, + 636.8504333655352, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4109.652619777526, + 638.3504333655352, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4107.0545435661725, + 639.8504333655352, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4104.456467354819, + 641.3504333655352, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4101.858391143466, + 642.8504333655352, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4099.260314932113, + 644.3504333655352, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4096.66223872076, + 645.8504333655352, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4094.0641625094067, + 647.3504333655352, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4091.4660862980536, + 648.8504333655352, + 51.712604653093464 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4091.4660862980536, + 648.8504333655352, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4089.9660862980536, + 651.4485095768885, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4088.4660862980536, + 654.0465857882418, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4086.9660862980536, + 656.6446619995952, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4085.4660862980536, + 659.2427382109486, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4083.9660862980536, + 661.840814422302, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4082.4660862980536, + 664.4388906336553, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4080.9660862980536, + 667.0369668450087, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4079.4660862980536, + 669.6350430563621, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4077.9660862980536, + 672.2331192677154, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4076.4660862980536, + 674.8311954790688, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4074.9660862980536, + 677.4292716904222, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4073.4660862980536, + 680.0273479017756, + 51.712604653093464 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4071.9660862980536, + 682.6254241131289, + 51.712604653093464 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4036.0, + 712.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-32-51_822304435/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-32-51_822304435/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fef60d81fbbee8b547affc3bf989eafed9eb8453 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-32-51_822304435/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -869.9173852509223, + -2002.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -866.9173852509223, + -2002.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -863.9173852509223, + -2002.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -860.9173852509223, + -2002.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -857.9173852509223, + -2002.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -854.9173852509223, + -2002.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -851.9173852509223, + -2002.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -848.9173852509223, + -2002.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -845.9173852509223, + -2002.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -842.9173852509223, + -2002.3555373156728, + 58.72363691236178 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -842.9173852509223, + -2002.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -840.3193090395689, + -2003.8555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -837.7212328282155, + -2005.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -835.1231566168622, + -2006.8555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -832.5250804055088, + -2008.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -829.9270041941554, + -2009.8555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -827.328927982802, + -2011.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -824.7308517714487, + -2012.8555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -822.1327755600953, + -2014.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -819.5346993487419, + -2015.8555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -816.9366231373886, + -2017.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -814.3385469260352, + -2018.8555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -811.7404707146818, + -2020.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -809.1423945033284, + -2021.8555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -806.5443182919751, + -2023.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -803.9462420806217, + -2024.8555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -801.3481658692683, + -2026.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -798.7500896579149, + -2027.8555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -796.1520134465616, + -2029.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -793.5539372352082, + -2030.8555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -790.9558610238548, + -2032.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -788.3577848125014, + -2033.8555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -785.7597086011481, + -2035.3555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -783.1616323897947, + -2036.8555373156728, + 58.72363691236178 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -780.5635561784413, + -2038.3555373156728, + 58.72363691236178 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -760.0, + -2048.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-38-34_624486946/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-38-34_624486946/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db0f3d4013262f101b2574d920af0b39aa4a6eef --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-38-34_624486946/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3557.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3560.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3563.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3566.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3569.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3572.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3575.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3578.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3581.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3584.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3587.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3590.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3593.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3596.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3599.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3602.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3605.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3608.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3611.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3614.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3617.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3620.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3623.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3626.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3629.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3632.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3635.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3638.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3641.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3644.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3644.2083895268115, + 1491.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3646.8064657381647, + 1490.3180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3649.404541949518, + 1488.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3652.002618160871, + 1487.3180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3654.600694372224, + 1485.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3657.1987705835772, + 1484.3180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3659.7968467949304, + 1482.8180024396197, + 44.03723036131907 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3662.3949230062835, + 1481.3180024396197, + 44.03723036131907 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3684.0, + 1480.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-39-32_431787582/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-39-32_431787582/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a58d2ac113d956633f3f3c6f8631f4ff39051cbe --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-39-32_431787582/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1675.632441913734, + -466.15137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1673.0343657023807, + -464.65137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1670.4362894910273, + -463.15137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1667.838213279674, + -461.65137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1665.2401370683206, + -460.15137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1662.6420608569672, + -458.65137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1660.0439846456138, + -457.15137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1657.4459084342604, + -455.65137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1654.847832222907, + -454.15137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1652.2497560115537, + -452.65137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1649.6516798002003, + -451.15137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1647.053603588847, + -449.65137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1644.4555273774936, + -448.15137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1641.8574511661402, + -446.65137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1639.2593749547868, + -445.15137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1636.6612987434335, + -443.65137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1634.06322253208, + -442.15137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1631.4651463207267, + -440.65137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1628.8670701093733, + -439.15137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1626.26899389802, + -437.65137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1623.6709176866666, + -436.15137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1621.0728414753132, + -434.65137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1618.4747652639599, + -433.15137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1615.8766890526065, + -431.65137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1613.278612841253, + -430.15137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1610.6805366298997, + -428.65137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1608.0824604185464, + -427.15137291835134, + 43.61642835563497 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1608.0824604185464, + -427.15137291835134, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1606.5824604185464, + -424.553296706998, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1605.0824604185464, + -421.9552204956447, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1603.5824604185464, + -419.3571442842914, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1602.0824604185464, + -416.7590680729381, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1600.5824604185464, + -414.16099186158476, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1599.0824604185464, + -411.56291565023145, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1597.5824604185464, + -408.96483943887813, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1596.0824604185464, + -406.3667632275248, + 43.61642835563497 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1594.5824604185464, + -403.7686870161715, + 43.61642835563497 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1580.0, + -392.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-40-20_1169442043/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-40-20_1169442043/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a1dbe0eacc439321a3b86046f81b126c5c78bdcb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-40-20_1169442043/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3455.8856179496333, + -341.8375538010856, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3458.4836941609865, + -343.3375538010856, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3461.0817703723396, + -344.8375538010856, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3463.679846583693, + -346.3375538010856, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3466.277922795046, + -347.8375538010856, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3468.875999006399, + -349.3375538010856, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3471.474075217752, + -350.8375538010856, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3474.0721514291054, + -352.3375538010856, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3476.6702276404585, + -353.8375538010856, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3479.2683038518117, + -355.3375538010856, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3481.866380063165, + -356.8375538010856, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3484.464456274518, + -358.3375538010856, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3487.062532485871, + -359.8375538010856, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3489.6606086972242, + -361.3375538010856, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3492.2586849085774, + -362.8375538010856, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3494.8567611199305, + -364.3375538010856, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3497.4548373312837, + -365.8375538010856, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3500.052913542637, + -367.3375538010856, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3502.65098975399, + -368.8375538010856, + 49.79733812233686 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3502.65098975399, + -368.8375538010856, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3504.15098975399, + -371.43563001243893, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3505.65098975399, + -374.03370622379225, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3507.15098975399, + -376.63178243514557, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3508.65098975399, + -379.2298586464989, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3510.15098975399, + -381.8279348578522, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3511.65098975399, + -384.4260110692055, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3513.15098975399, + -387.02408728055883, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3514.65098975399, + -389.62216349191215, + 49.79733812233686 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3514.65098975399, + -389.62216349191215, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3514.65098975399, + -392.62216349191215, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3514.65098975399, + -395.62216349191215, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3514.65098975399, + -398.62216349191215, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3514.65098975399, + -401.62216349191215, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3514.65098975399, + -404.62216349191215, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3514.65098975399, + -407.62216349191215, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3514.65098975399, + -410.62216349191215, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3514.65098975399, + -413.62216349191215, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3514.65098975399, + -416.62216349191215, + 49.79733812233686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3514.65098975399, + -419.62216349191215, + 49.79733812233686 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3532.0, + -444.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-40-42_811507986/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-40-42_811507986/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0a8f2f1e8f18e097d11b9ebc6ce961ea02c33bad --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-40-42_811507986/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2036.49509458215, + -81.30789231036835, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2034.99509458215, + -83.90596852172166, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2033.49509458215, + -86.50404473307498, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2031.99509458215, + -89.1021209444283, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2030.49509458215, + -91.70019715578161, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2028.99509458215, + -94.29827336713493, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2027.49509458215, + -96.89634957848824, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2025.99509458215, + -99.49442578984156, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2024.49509458215, + -102.09250200119487, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2022.99509458215, + -104.69057821254819, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2021.49509458215, + -107.2886544239015, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2019.99509458215, + -109.88673063525482, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2018.49509458215, + -112.48480684660814, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2016.99509458215, + -115.08288305796145, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2015.49509458215, + -117.68095926931477, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2013.99509458215, + -120.27903548066809, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2012.49509458215, + -122.8771116920214, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2010.99509458215, + -125.47518790337472, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2009.49509458215, + -128.07326411472803, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2007.99509458215, + -130.67134032608135, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2006.49509458215, + -133.26941653743467, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2004.99509458215, + -135.86749274878798, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2003.49509458215, + -138.4655689601413, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2001.99509458215, + -141.0636451714946, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2000.49509458215, + -143.66172138284793, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1998.99509458215, + -146.25979759420125, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1997.49509458215, + -148.85787380555456, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1995.99509458215, + -151.45595001690788, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1994.49509458215, + -154.0540262282612, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1992.99509458215, + -156.6521024396145, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1991.49509458215, + -159.25017865096783, + 67.40194939851312 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1991.49509458215, + -159.25017865096783, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1988.8970183707966, + -160.75017865096783, + 67.40194939851312 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1986.2989421594432, + -162.25017865096783, + 67.40194939851312 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + -176.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-41-1_1920703868/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-41-1_1920703868/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05fe86acb58b42e79932aaaa45b92e882daf9cee --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-41-1_1920703868/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -707.2899859855396, + -1864.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -707.2899859855396, + -1867.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -707.2899859855396, + -1870.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -707.2899859855396, + -1873.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -707.2899859855396, + -1876.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -707.2899859855396, + -1879.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -707.2899859855396, + -1882.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -707.2899859855396, + -1885.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -707.2899859855396, + -1888.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -707.2899859855396, + -1891.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -707.2899859855396, + -1894.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -707.2899859855396, + -1897.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -707.2899859855396, + -1900.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -707.2899859855396, + -1903.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -707.2899859855396, + -1906.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -707.2899859855396, + -1909.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -707.2899859855396, + -1912.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -707.2899859855396, + -1915.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -707.2899859855396, + -1918.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -707.2899859855396, + -1921.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -707.2899859855396, + -1924.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -707.2899859855396, + -1927.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -707.2899859855396, + -1930.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -707.2899859855396, + -1933.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -707.2899859855396, + -1936.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -707.2899859855396, + -1939.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -707.2899859855396, + -1942.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -707.2899859855396, + -1945.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -707.2899859855396, + -1948.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -707.2899859855396, + -1951.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -707.2899859855396, + -1954.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -707.2899859855396, + -1957.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -707.2899859855396, + -1960.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -707.2899859855396, + -1963.3146692417017, + 46.47457833504042 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -707.2899859855396, + -1963.3146692417017, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -708.7899859855396, + -1965.912745453055, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -710.2899859855396, + -1968.5108216644085, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -711.7899859855396, + -1971.1088978757618, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -713.2899859855396, + -1973.7069740871152, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -714.7899859855396, + -1976.3050502984686, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -716.2899859855396, + -1978.903126509822, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -717.7899859855396, + -1981.5012027211753, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -719.2899859855396, + -1984.0992789325287, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -720.7899859855396, + -1986.697355143882, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -722.2899859855396, + -1989.2954313552355, + 46.47457833504042 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -723.7899859855396, + -1991.8935075665888, + 46.47457833504042 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -728.0, + -2008.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-42-39_1475295657/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-42-39_1475295657/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c2f6b4c3789c6bf00ae1ee645fc5f0bcb94c6105 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-42-39_1475295657/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2653.797911033093, + -654.7858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2656.395987244446, + -656.2858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2658.9940634557993, + -657.7858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2661.5921396671524, + -659.2858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2664.1902158785056, + -660.7858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2666.7882920898587, + -662.2858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2669.386368301212, + -663.7858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2671.984444512565, + -665.2858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2674.582520723918, + -666.7858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2677.1805969352713, + -668.2858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2679.7786731466244, + -669.7858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2682.3767493579776, + -671.2858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2684.9748255693307, + -672.7858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2687.572901780684, + -674.2858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2690.170977992037, + -675.7858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2692.76905420339, + -677.2858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2695.3671304147433, + -678.7858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2697.9652066260965, + -680.2858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2700.5632828374496, + -681.7858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2703.1613590488028, + -683.2858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2705.759435260156, + -684.7858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2708.357511471509, + -686.2858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2710.955587682862, + -687.7858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2713.5536638942153, + -689.2858312082692, + 47.864798324172554 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2713.5536638942153, + -689.2858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2716.5536638942153, + -689.2858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2719.5536638942153, + -689.2858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2722.5536638942153, + -689.2858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2725.5536638942153, + -689.2858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2728.5536638942153, + -689.2858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2731.5536638942153, + -689.2858312082692, + 47.864798324172554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2734.5536638942153, + -689.2858312082692, + 47.864798324172554 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2788.0, + -712.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-42-58_1426608253/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-42-58_1426608253/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6022900b3f673cb83692244d4bf347030b356100 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-42-58_1426608253/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1405.6242033439091, + -2840.596350842255, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1408.6242033439091, + -2840.596350842255, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1411.6242033439091, + -2840.596350842255, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1414.6242033439091, + -2840.596350842255, + 53.00204493669145 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1414.6242033439091, + -2840.596350842255, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1417.2222795552625, + -2842.096350842255, + 53.00204493669145 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1417.2222795552625, + -2842.096350842255, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1418.7222795552625, + -2844.6944270536083, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1420.2222795552625, + -2847.2925032649614, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1421.7222795552625, + -2849.8905794763145, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1423.2222795552625, + -2852.4886556876677, + 53.00204493669145 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1423.2222795552625, + -2852.4886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1425.8203557666159, + -2853.9886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1428.4184319779692, + -2855.4886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1431.0165081893226, + -2856.9886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1433.614584400676, + -2858.4886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1436.2126606120294, + -2859.9886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1438.8107368233827, + -2861.4886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1441.408813034736, + -2862.9886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1444.0068892460895, + -2864.4886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1446.6049654574429, + -2865.9886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1449.2030416687962, + -2867.4886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1451.8011178801496, + -2868.9886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1454.399194091503, + -2870.4886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1456.9972703028564, + -2871.9886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1459.5953465142097, + -2873.4886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1462.193422725563, + -2874.9886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1464.7914989369165, + -2876.4886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1467.3895751482698, + -2877.9886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1469.9876513596232, + -2879.4886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1472.5857275709766, + -2880.9886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1475.18380378233, + -2882.4886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1477.7818799936833, + -2883.9886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1480.3799562050367, + -2885.4886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1482.97803241639, + -2886.9886556876677, + 53.00204493669145 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1485.5761086277435, + -2888.4886556876677, + 53.00204493669145 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1508.0, + -2900.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-44-0_2042028215/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-44-0_2042028215/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9222e5ff9077b0a365cf82a5c8e25a81c538a4fb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-44-0_2042028215/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 529.5002818293001, + -161.59902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 526.9022056179467, + -163.09902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 524.3041294065933, + -164.59902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 521.70605319524, + -166.09902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 519.1079769838866, + -167.59902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 516.5099007725332, + -169.09902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 513.9118245611799, + -170.59902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 511.31374834982654, + -172.09902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 508.7156721384732, + -173.59902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 506.1175959271199, + -175.09902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 503.5195197157666, + -176.59902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 500.9214435044133, + -178.09902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 498.32336729305996, + -179.59902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 495.72529108170664, + -181.09902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 493.1272148703533, + -182.59902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 490.529138659, + -184.09902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 487.9310624476467, + -185.59902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 485.3329862362934, + -187.09902259610595, + 61.23080695743785 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 485.3329862362934, + -187.09902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 482.3329862362934, + -187.09902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 479.3329862362934, + -187.09902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 476.3329862362934, + -187.09902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 473.3329862362934, + -187.09902259610595, + 61.23080695743785 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 470.3329862362934, + -187.09902259610595, + 61.23080695743785 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 432.0, + -204.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-45-38_218942709/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-45-38_218942709/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d4c6791fd8e5e0592de6421c3ff713ef0584ea3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-45-38_218942709/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2716.015552305623, + 1375.745535378993, + 61.327177816026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2718.613628516976, + 1377.245535378993, + 61.327177816026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2721.211704728329, + 1378.745535378993, + 61.327177816026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2723.8097809396822, + 1380.245535378993, + 61.327177816026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2726.4078571510354, + 1381.745535378993, + 61.327177816026 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2832.0, + 1412.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-48-7_1206674446/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-48-7_1206674446/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae049914ffa1a0d9559a75a183f477e454d4da01 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-48-7_1206674446/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2991.5302040143715, + -2027.0631041919528, + 43.018812403613964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2993.0302040143715, + -2024.4650279805994, + 43.018812403613964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2994.5302040143715, + -2021.866951769246, + 43.018812403613964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2996.0302040143715, + -2019.2688755578927, + 43.018812403613964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2997.5302040143715, + -2016.6707993465393, + 43.018812403613964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2999.0302040143715, + -2014.072723135186, + 43.018812403613964 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3064.0, + -1932.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-5-35_757950880/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-5-35_757950880/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c25e84a50a4d0bde4563611ee44cf675ca9b1a7a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-5-35_757950880/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1741.0139387707607, + 473.80166007546904, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1738.0139387707607, + 473.80166007546904, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1735.0139387707607, + 473.80166007546904, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1732.0139387707607, + 473.80166007546904, + 64.67009960300615 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1732.0139387707607, + 473.80166007546904, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1729.4158625594073, + 475.30166007546904, + 64.67009960300615 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1729.4158625594073, + 475.30166007546904, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1727.9158625594073, + 477.89973628682236, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1726.4158625594073, + 480.4978124981757, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1724.9158625594073, + 483.095888709529, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1723.4158625594073, + 485.6939649208823, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1721.9158625594073, + 488.2920411322356, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1720.4158625594073, + 490.89011734358894, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1718.9158625594073, + 493.48819355494226, + 64.67009960300615 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1718.9158625594073, + 493.48819355494226, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1716.317786348054, + 494.98819355494226, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1713.7197101367005, + 496.48819355494226, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1711.1216339253472, + 497.98819355494226, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1708.5235577139938, + 499.48819355494226, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1705.9254815026404, + 500.98819355494226, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1703.327405291287, + 502.48819355494226, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1700.7293290799337, + 503.98819355494226, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1698.1312528685803, + 505.48819355494226, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1695.533176657227, + 506.98819355494226, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1692.9351004458736, + 508.48819355494226, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1690.3370242345202, + 509.98819355494226, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1687.7389480231668, + 511.48819355494226, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1685.1408718118134, + 512.9881935549422, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598273 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1682.54279560046, + 514.4881935549422, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1679.9447193891067, + 515.9881935549422, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1677.3466431777533, + 517.4881935549422, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1674.7485669664, + 518.9881935549422, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1672.1504907550466, + 520.4881935549422, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1669.5524145436932, + 521.9881935549422, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1666.9543383323398, + 523.4881935549422, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1664.3562621209865, + 524.9881935549422, + 64.67009960300615 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1664.3562621209865, + 524.9881935549422, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1661.3562621209865, + 524.9881935549422, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1658.3562621209865, + 524.9881935549422, + 64.67009960300615 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1655.3562621209865, + 524.9881935549422, + 64.67009960300615 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1636.0, + 536.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-5-9_822514995/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-5-9_822514995/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..553f200eba4cf496f887685653ed5d6eb3a99df1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-5-9_822514995/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 619.2427971657426, + 289.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 622.2427971657426, + 289.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 625.2427971657426, + 289.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 628.2427971657426, + 289.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 631.2427971657426, + 289.96583862832495, + 66.08486506831788 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 631.2427971657426, + 289.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 633.8408733770959, + 288.46583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 636.4389495884493, + 286.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 639.0370257998027, + 285.46583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 641.635102011156, + 283.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 644.2331782225094, + 282.46583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 646.8312544338628, + 280.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 649.4293306452162, + 279.46583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 652.0274068565695, + 277.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 654.6254830679229, + 276.46583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 657.2235592792763, + 274.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 659.8216354906297, + 273.46583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 662.419711701983, + 271.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 665.0177879133364, + 270.46583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 667.6158641246898, + 268.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 670.2139403360432, + 267.46583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 672.8120165473965, + 265.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 675.4100927587499, + 264.46583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 678.0081689701033, + 262.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 680.6062451814566, + 261.46583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 683.20432139281, + 259.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 685.8023976041634, + 258.46583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 688.4004738155168, + 256.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 690.9985500268701, + 255.46583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 693.5966262382235, + 253.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 696.1947024495769, + 252.46583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 698.7927786609303, + 250.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 701.3908548722836, + 249.46583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 703.988931083637, + 247.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 706.5870072949904, + 246.46583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 709.1850835063437, + 244.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 711.7831597176971, + 243.46583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 714.3812359290505, + 241.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 716.9793121404039, + 240.46583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 719.5773883517572, + 238.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 722.1754645631106, + 237.46583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 724.773540774464, + 235.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 727.3716169858174, + 234.46583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 729.9696931971707, + 232.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 732.5677694085241, + 231.46583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 735.1658456198775, + 229.96583862832495, + 66.08486506831788 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 737.7639218312308, + 228.46583862832495, + 66.08486506831788 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 748.0, + 220.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-50-23_660420424/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-50-23_660420424/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22747634660f4791c8dbb4b974db11035b9c3608 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-50-23_660420424/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2869.8006244511116, + 1996.1702057684126, + 68.34546005387882 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2868.3006244511116, + 1993.5721295570593, + 68.34546005387882 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2866.8006244511116, + 1990.974053345706, + 68.34546005387882 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2865.3006244511116, + 1988.3759771343525, + 68.34546005387882 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2863.8006244511116, + 1985.7779009229992, + 68.34546005387882 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2862.3006244511116, + 1983.1798247116458, + 68.34546005387882 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2860.8006244511116, + 1980.5817485002924, + 68.34546005387882 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2860.8006244511116, + 1980.5817485002924, + 68.34546005387882 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2858.2025482397585, + 1979.0817485002924, + 68.34546005387882 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2855.6044720284053, + 1977.5817485002924, + 68.34546005387882 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2853.006395817052, + 1976.0817485002924, + 68.34546005387882 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2850.408319605699, + 1974.5817485002924, + 68.34546005387882 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2847.810243394346, + 1973.0817485002924, + 68.34546005387882 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2776.0, + 1892.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-58-38_776624031/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-58-38_776624031/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ed87688a004dbbeab40214d8dee056e43ee8014f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-58-38_776624031/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1827.3322598420455, + -77.95060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1829.9303360533988, + -79.45060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1832.5284122647522, + -80.95060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1835.1264884761056, + -82.45060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1837.724564687459, + -83.95060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1840.3226408988123, + -85.45060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1842.9207171101657, + -86.95060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1845.518793321519, + -88.45060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1848.1168695328724, + -89.95060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1850.7149457442258, + -91.45060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1853.3130219555792, + -92.95060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1855.9110981669326, + -94.45060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1858.509174378286, + -95.95060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1861.1072505896393, + -97.45060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1863.7053268009927, + -98.95060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1866.303403012346, + -100.45060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1868.9014792236994, + -101.95060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1871.4995554350528, + -103.45060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1874.0976316464062, + -104.95060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1876.6957078577595, + -106.45060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1879.293784069113, + -107.95060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1881.8918602804663, + -109.45060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1884.4899364918197, + -110.95060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1887.088012703173, + -112.45060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1889.6860889145264, + -113.95060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1892.2841651258798, + -115.45060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1894.8822413372332, + -116.95060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1897.4803175485865, + -118.45060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1900.07839375994, + -119.95060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1902.6764699712933, + -121.45060566406083, + 68.36338047833323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1905.2745461826466, + -122.95060566406083, + 68.36338047833323 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1924.0, + -132.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-59-34_1140858988/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-59-34_1140858988/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c402092c86bc1eb1d6677eb6eb8a69994d540027 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-59-34_1140858988/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 236.73362615695896, + -2241.904980342857, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 239.73362615695896, + -2241.904980342857, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 242.73362615695896, + -2241.904980342857, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 245.73362615695896, + -2241.904980342857, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 248.73362615695896, + -2241.904980342857, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 251.73362615695896, + -2241.904980342857, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 254.73362615695896, + -2241.904980342857, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 257.73362615695896, + -2241.904980342857, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 260.73362615695896, + -2241.904980342857, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 263.73362615695896, + -2241.904980342857, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 266.73362615695896, + -2241.904980342857, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 269.73362615695896, + -2241.904980342857, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 272.73362615695896, + -2241.904980342857, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 275.73362615695896, + -2241.904980342857, + 45.938624322772895 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 275.73362615695896, + -2241.904980342857, + 45.938624322772895 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 275.73362615695896, + -2241.904980342857, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 277.23362615695896, + -2244.50305655421, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 278.73362615695896, + -2247.1011327655633, + 45.938624322772895 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 278.73362615695896, + -2247.1011327655633, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 281.3317023683123, + -2248.6011327655633, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 283.9297785796656, + -2250.1011327655633, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 286.5278547910189, + -2251.6011327655633, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 289.1259310023722, + -2253.1011327655633, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 291.72400721372554, + -2254.6011327655633, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 294.32208342507886, + -2256.1011327655633, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 296.9201596364322, + -2257.6011327655633, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 299.5182358477855, + -2259.1011327655633, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 302.1163120591388, + -2260.6011327655633, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 304.7143882704921, + -2262.1011327655633, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 307.31246448184544, + -2263.6011327655633, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 309.91054069319875, + -2265.1011327655633, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 312.50861690455207, + -2266.6011327655633, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 315.1066931159054, + -2268.1011327655633, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 317.7047693272587, + -2269.6011327655633, + 45.938624322772895 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 320.302845538612, + -2271.1011327655633, + 45.938624322772895 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.0, + -2288.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-8-38_976668784/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-8-38_976668784/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..89826f52406f17ef54b719f8199177e9a37735e1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-8-38_976668784/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 372.4532581553551, + -2598.7102216134667, + 45.65173127384995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 369.8551819440018, + -2597.2102216134667, + 45.65173127384995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 367.2571057326485, + -2595.7102216134667, + 45.65173127384995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 364.65902952129517, + -2594.2102216134667, + 45.65173127384995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 362.06095330994185, + -2592.7102216134667, + 45.65173127384995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 359.46287709858854, + -2591.2102216134667, + 45.65173127384995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 356.8648008872352, + -2589.7102216134667, + 45.65173127384995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 354.2667246758819, + -2588.2102216134667, + 45.65173127384995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 351.6686484645286, + -2586.7102216134667, + 45.65173127384995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 349.07057225317527, + -2585.2102216134667, + 45.65173127384995 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 349.07057225317527, + -2585.2102216134667, + 45.65173127384995 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 347.57057225317527, + -2582.6121454021136, + 45.65173127384995 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 276.0, + -2532.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-9-35_610645107/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-9-35_610645107/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c7a63797773a00bbf75e36fafba79e174e056ec --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-9-35_610645107/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1062.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1065.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1068.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1071.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1074.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1077.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1080.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1083.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1086.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1089.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1092.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1095.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1098.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1101.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1104.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1107.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1110.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1113.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1116.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1119.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1122.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1122.0283415764059, + 978.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1124.6264177877592, + 976.9959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1127.2244939991126, + 975.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1129.822570210466, + 973.9959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1132.4206464218194, + 972.4959365949193, + 69.58522087645098 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1135.0187226331727, + 970.9959365949193, + 69.58522087645098 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1176.0, + 968.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-9-52_656184096/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-9-52_656184096/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa855fe81f51a3fc17040a6e0fb4331da5ef4f1e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_2-9-52_656184096/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2152.296561195934, + -669.5587935424611, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2150.796561195934, + -666.9607173311078, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2149.296561195934, + -664.3626411197545, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2147.796561195934, + -661.7645649084011, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2146.296561195934, + -659.1664886970477, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2144.796561195934, + -656.5684124856944, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2143.296561195934, + -653.970336274341, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2141.796561195934, + -651.3722600629876, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2140.296561195934, + -648.7741838516342, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2138.796561195934, + -646.1761076402809, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2137.296561195934, + -643.5780314289275, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2135.796561195934, + -640.9799552175741, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2134.296561195934, + -638.3818790062207, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2132.796561195934, + -635.7838027948674, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2131.296561195934, + -633.185726583514, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2129.796561195934, + -630.5876503721606, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2128.296561195934, + -627.9895741608073, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2126.796561195934, + -625.3914979494539, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2125.296561195934, + -622.7934217381005, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2123.796561195934, + -620.1953455267471, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2122.296561195934, + -617.5972693153938, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2120.796561195934, + -614.9991931040404, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2119.296561195934, + -612.401116892687, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2117.796561195934, + -609.8030406813336, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2116.296561195934, + -607.2049644699803, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2114.796561195934, + -604.6068882586269, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2113.296561195934, + -602.0088120472735, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2111.796561195934, + -599.4107358359201, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2110.296561195934, + -596.8126596245668, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2108.796561195934, + -594.2145834132134, + 67.1732600310222 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2108.796561195934, + -594.2145834132134, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2108.796561195934, + -591.2145834132134, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2108.796561195934, + -588.2145834132134, + 67.1732600310222 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2108.796561195934, + -585.2145834132134, + 67.1732600310222 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2092.0, + -556.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-10-10_739068399/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-10-10_739068399/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..941fcdb19b9f888f96eff36d61df60d8312a9b93 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-10-10_739068399/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -226.0588333761823, + -1821.1151451213398, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -224.5588333761823, + -1823.7132213326931, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -223.0588333761823, + -1826.3112975440465, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -221.5588333761823, + -1828.9093737553999, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -220.0588333761823, + -1831.5074499667533, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -218.5588333761823, + -1834.1055261781066, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -217.0588333761823, + -1836.70360238946, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -215.5588333761823, + -1839.3016786008134, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -214.0588333761823, + -1841.8997548121667, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -212.5588333761823, + -1844.4978310235201, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -211.0588333761823, + -1847.0959072348735, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -209.5588333761823, + -1849.6939834462269, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -208.0588333761823, + -1852.2920596575802, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -206.5588333761823, + -1854.8901358689336, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -205.0588333761823, + -1857.488212080287, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -203.5588333761823, + -1860.0862882916404, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -202.0588333761823, + -1862.6843645029937, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -200.5588333761823, + -1865.282440714347, + 62.66224744953023 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -200.5588333761823, + -1865.282440714347, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -197.96075716482898, + -1866.782440714347, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -195.36268095347566, + -1868.282440714347, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -192.76460474212234, + -1869.782440714347, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -190.16652853076903, + -1871.282440714347, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -187.5684523194157, + -1872.782440714347, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -184.9703761080624, + -1874.282440714347, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -182.37229989670908, + -1875.782440714347, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -179.77422368535576, + -1877.282440714347, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -177.17614747400245, + -1878.782440714347, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -174.57807126264913, + -1880.282440714347, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -171.97999505129582, + -1881.782440714347, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -169.3819188399425, + -1883.282440714347, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -166.78384262858918, + -1884.782440714347, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -164.18576641723587, + -1886.282440714347, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -161.58769020588255, + -1887.782440714347, + 62.66224744953023 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -158.98961399452924, + -1889.282440714347, + 62.66224744953023 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -148.0, + -1904.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-12-20_1335757408/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-12-20_1335757408/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9445f825d91c1b66b0cf1df108ba0d2d33920668 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-12-20_1335757408/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2870.8707560109206, + 1675.065755229355, + 54.13202296847601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2869.3707560109206, + 1677.6638314407085, + 54.13202296847601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2867.8707560109206, + 1680.2619076520618, + 54.13202296847601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2866.3707560109206, + 1682.8599838634152, + 54.13202296847601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2864.8707560109206, + 1685.4580600747686, + 54.13202296847601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2863.3707560109206, + 1688.056136286122, + 54.13202296847601 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2796.0, + 1792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-12-46_1791321676/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-12-46_1791321676/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4f15b53921fdd45fae806e0738dea7ca7b01956 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-12-46_1791321676/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -3.9558521709844143, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -0.9558521709844143, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2.0441478290155857, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 5.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 8.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 11.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 14.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 17.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 20.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 23.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 26.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 29.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 32.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 35.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 38.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 41.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 44.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 47.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 50.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 53.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 56.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 59.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 62.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 62.044147829015586, + -1946.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 64.6422240403689, + -1945.2882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 67.24030025172222, + -1943.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 69.83837646307553, + -1942.2882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 72.43645267442885, + -1940.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 75.03452888578217, + -1939.2882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 77.63260509713548, + -1937.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 80.2306813084888, + -1936.2882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 82.82875751984211, + -1934.7882773668098, + 56.85478739393008 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 85.42683373119543, + -1933.2882773668098, + 56.85478739393008 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 112.0, + -1932.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-13-45_494220239/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-13-45_494220239/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc6e52e6a4604fb6d77390d49863ec6be1a3a6b6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-13-45_494220239/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3865.7668159653217, + 1657.7809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3862.7668159653217, + 1657.7809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3859.7668159653217, + 1657.7809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3856.7668159653217, + 1657.7809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3853.7668159653217, + 1657.7809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3850.7668159653217, + 1657.7809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3847.7668159653217, + 1657.7809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3844.7668159653217, + 1657.7809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3841.7668159653217, + 1657.7809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3838.7668159653217, + 1657.7809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3835.7668159653217, + 1657.7809246932018, + 40.58257582251016 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3835.7668159653217, + 1657.7809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3833.1687397539686, + 1659.2809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3830.5706635426154, + 1660.7809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3827.9725873312623, + 1662.2809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3825.374511119909, + 1663.7809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3822.776434908556, + 1665.2809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3820.178358697203, + 1666.7809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3817.5802824858497, + 1668.2809246932018, + 40.58257582251016 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3817.5802824858497, + 1668.2809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3814.5802824858497, + 1668.2809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3811.5802824858497, + 1668.2809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3808.5802824858497, + 1668.2809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3805.5802824858497, + 1668.2809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3802.5802824858497, + 1668.2809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3799.5802824858497, + 1668.2809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3796.5802824858497, + 1668.2809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3793.5802824858497, + 1668.2809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3790.5802824858497, + 1668.2809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3787.5802824858497, + 1668.2809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3784.5802824858497, + 1668.2809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3781.5802824858497, + 1668.2809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3778.5802824858497, + 1668.2809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3775.5802824858497, + 1668.2809246932018, + 40.58257582251016 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3772.5802824858497, + 1668.2809246932018, + 40.58257582251016 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3748.0, + 1672.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-14-24_819599372/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-14-24_819599372/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aba8d39ab6f1647215b570590dcabef74e329480 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-14-24_819599372/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3921.153619985818, + 945.1842049416356, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3922.653619985818, + 947.7822811529888, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3924.153619985818, + 950.3803573643422, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3925.653619985818, + 952.9784335756956, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3927.153619985818, + 955.576509787049, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3928.653619985818, + 958.1745859984023, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3930.153619985818, + 960.7726622097557, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3931.653619985818, + 963.3707384211091, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3933.153619985818, + 965.9688146324625, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3934.653619985818, + 968.5668908438158, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3936.153619985818, + 971.1649670551692, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3937.653619985818, + 973.7630432665226, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3939.153619985818, + 976.361119477876, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3940.653619985818, + 978.9591956892293, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3942.153619985818, + 981.5572719005827, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3943.653619985818, + 984.1553481119361, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3945.153619985818, + 986.7534243232894, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3946.653619985818, + 989.3515005346428, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3948.153619985818, + 991.9495767459962, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3949.653619985818, + 994.5476529573496, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3951.153619985818, + 997.1457291687029, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3952.653619985818, + 999.7438053800563, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3954.153619985818, + 1002.3418815914097, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3955.653619985818, + 1004.939957802763, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3957.153619985818, + 1007.5380340141164, + 50.614449936663064 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3957.153619985818, + 1007.5380340141164, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3959.751696197171, + 1009.0380340141164, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3962.349772408524, + 1010.5380340141164, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3964.9478486198773, + 1012.0380340141164, + 50.614449936663064 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3967.5459248312304, + 1013.5380340141164, + 50.614449936663064 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3980.0, + 1032.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-15-57_1277970780/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-15-57_1277970780/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ce708575fc67be57864d1798ce93865cf6a18902 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-15-57_1277970780/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -912.7073540068556, + -2300.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -915.7073540068556, + -2300.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -918.7073540068556, + -2300.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -921.7073540068556, + -2300.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -924.7073540068556, + -2300.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -927.7073540068556, + -2300.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -930.7073540068556, + -2300.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -933.7073540068556, + -2300.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -936.7073540068556, + -2300.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -939.7073540068556, + -2300.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -942.7073540068556, + -2300.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -945.7073540068556, + -2300.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -948.7073540068556, + -2300.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -951.7073540068556, + -2300.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -954.7073540068556, + -2300.5785329019277, + 45.46776290563379 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -954.7073540068556, + -2300.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -957.3054302182088, + -2299.0785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -959.9035064295622, + -2297.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -962.5015826409156, + -2296.0785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -965.0996588522689, + -2294.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -967.6977350636223, + -2293.0785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -970.2958112749757, + -2291.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -972.893887486329, + -2290.0785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -975.4919636976824, + -2288.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -978.0900399090358, + -2287.0785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -980.6881161203892, + -2285.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -983.2861923317425, + -2284.0785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -985.8842685430959, + -2282.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -988.4823447544493, + -2281.0785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -991.0804209658027, + -2279.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -993.678497177156, + -2278.0785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -996.2765733885094, + -2276.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -998.8746495998628, + -2275.0785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1001.4727258112162, + -2273.5785329019277, + 45.46776290563379 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1001.4727258112162, + -2273.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1004.4727258112162, + -2273.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1007.4727258112162, + -2273.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1010.4727258112162, + -2273.5785329019277, + 45.46776290563379 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1013.4727258112162, + -2273.5785329019277, + 45.46776290563379 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1036.0, + -2268.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-19-1_1123716509/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-19-1_1123716509/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..975ac5d8a61d2f4e5072f388f7e39d801564ca20 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-19-1_1123716509/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4014.4812158219356, + 2295.5507002110585, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4015.9812158219356, + 2298.1487764224116, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4017.4812158219356, + 2300.746852633765, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4018.9812158219356, + 2303.344928845118, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4020.4812158219356, + 2305.943005056471, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4021.9812158219356, + 2308.541081267824, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4023.4812158219356, + 2311.1391574791774, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4024.9812158219356, + 2313.7372336905305, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4026.4812158219356, + 2316.3353099018836, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4027.9812158219356, + 2318.933386113237, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4029.4812158219356, + 2321.53146232459, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4030.9812158219356, + 2324.129538535943, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4032.4812158219356, + 2326.7276147472962, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4033.9812158219356, + 2329.3256909586494, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4035.4812158219356, + 2331.9237671700025, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4036.9812158219356, + 2334.5218433813557, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4038.4812158219356, + 2337.119919592709, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4039.9812158219356, + 2339.717995804062, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4041.4812158219356, + 2342.316072015415, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4042.9812158219356, + 2344.9141482267682, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4044.4812158219356, + 2347.5122244381214, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4045.9812158219356, + 2350.1103006494745, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4047.4812158219356, + 2352.7083768608277, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4048.9812158219356, + 2355.306453072181, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4050.4812158219356, + 2357.904529283534, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4051.9812158219356, + 2360.502605494887, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4053.4812158219356, + 2363.1006817062403, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4054.9812158219356, + 2365.6987579175934, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4056.4812158219356, + 2368.2968341289466, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4057.9812158219356, + 2370.8949103402997, + 50.53917203732946 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4059.4812158219356, + 2373.492986551653, + 50.53917203732946 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4084.0, + 2412.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-20-22_356341138/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-20-22_356341138/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db35805a3634248474d86ab19d16155935fdc725 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-20-22_356341138/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1996.801605478932, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1999.801605478932, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2002.801605478932, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2005.801605478932, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2008.801605478932, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2011.801605478932, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2014.801605478932, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2017.801605478932, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2020.801605478932, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2023.801605478932, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2026.801605478932, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2029.801605478932, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2032.801605478932, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2035.801605478932, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2038.801605478932, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2041.801605478932, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2044.801605478932, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2047.801605478932, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2050.8016054789323, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2053.8016054789323, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2056.8016054789323, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2059.8016054789323, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2062.8016054789323, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2065.8016054789323, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2068.8016054789323, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2071.8016054789323, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2074.8016054789323, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2074.8016054789323, + -1641.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2077.3996816902854, + -1640.1311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2079.9977579016386, + -1638.6311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2082.5958341129917, + -1637.1311692277643, + 54.345512190574006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2085.193910324345, + -1635.6311692277643, + 54.345512190574006 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2112.0, + -1636.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-22-36_637438146/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-22-36_637438146/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..23e30a583d22a0563406ed082fc7977285b6a3b1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-22-36_637438146/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1494.7855423667725, + 1287.6469349597194, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1493.2855423667725, + 1290.2450111710727, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1491.7855423667725, + 1292.8430873824261, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1490.2855423667725, + 1295.4411635937795, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1488.7855423667725, + 1298.0392398051329, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1487.2855423667725, + 1300.6373160164862, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1485.7855423667725, + 1303.2353922278396, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1484.2855423667725, + 1305.833468439193, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1482.7855423667725, + 1308.4315446505464, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1481.2855423667725, + 1311.0296208618997, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1479.7855423667725, + 1313.627697073253, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1478.2855423667725, + 1316.2257732846065, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1476.7855423667725, + 1318.8238494959598, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1475.2855423667725, + 1321.4219257073132, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1473.7855423667725, + 1324.0200019186666, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1472.2855423667725, + 1326.61807813002, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1470.7855423667725, + 1329.2161543413733, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1469.2855423667725, + 1331.8142305527267, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1467.7855423667725, + 1334.41230676408, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1466.2855423667725, + 1337.0103829754335, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1464.7855423667725, + 1339.6084591867868, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1463.2855423667725, + 1342.2065353981402, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1461.7855423667725, + 1344.8046116094936, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1460.2855423667725, + 1347.402687820847, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1458.7855423667725, + 1350.0007640322003, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1457.2855423667725, + 1352.5988402435537, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1455.7855423667725, + 1355.196916454907, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1454.2855423667725, + 1357.7949926662604, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1452.7855423667725, + 1360.3930688776138, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1451.2855423667725, + 1362.9911450889672, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1449.7855423667725, + 1365.5892213003206, + 59.548710712233046 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1449.7855423667725, + 1365.5892213003206, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1449.7855423667725, + 1368.5892213003206, + 59.548710712233046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1449.7855423667725, + 1371.5892213003206, + 59.548710712233046 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1440.0, + 1392.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-22-56_1029009428/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-22-56_1029009428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d5cfdde832c09311a0c29b1fa1ba383071f3e190 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-22-56_1029009428/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3526.4754125682707, + 739.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3526.4754125682707, + 736.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3526.4754125682707, + 733.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3526.4754125682707, + 730.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3526.4754125682707, + 727.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3526.4754125682707, + 724.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3526.4754125682707, + 721.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3526.4754125682707, + 718.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3526.4754125682707, + 715.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3526.4754125682707, + 712.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3526.4754125682707, + 709.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3526.4754125682707, + 706.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3526.4754125682707, + 703.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3526.4754125682707, + 700.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3526.4754125682707, + 697.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3526.4754125682707, + 694.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3526.4754125682707, + 691.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3526.4754125682707, + 688.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3526.4754125682707, + 685.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3526.4754125682707, + 682.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3526.4754125682707, + 679.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3526.4754125682707, + 676.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3526.4754125682707, + 673.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3526.4754125682707, + 670.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3526.4754125682707, + 667.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3526.4754125682707, + 664.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3526.4754125682707, + 661.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3526.4754125682707, + 658.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3526.4754125682707, + 655.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3526.4754125682707, + 652.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3526.4754125682707, + 649.8289662043279, + 55.50744521896218 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3526.4754125682707, + 649.8289662043279, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3527.9754125682707, + 647.2308899929747, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3529.4754125682707, + 644.6328137816213, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3530.9754125682707, + 642.0347375702679, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3532.4754125682707, + 639.4366613589145, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3533.9754125682707, + 636.8385851475612, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3535.4754125682707, + 634.2405089362078, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3536.9754125682707, + 631.6424327248544, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3538.4754125682707, + 629.044356513501, + 55.50744521896218 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 3539.9754125682707, + 626.4462803021477, + 55.50744521896218 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3544.0, + 612.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-28-15_952617546/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-28-15_952617546/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d1083f1b2dd6db45602dc63f8724fc7ddfd5edc --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-28-15_952617546/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3985.5750960201226, + 1081.7993622497988, + 61.65457029413191 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3984.0750960201226, + 1079.2012860384455, + 61.65457029413191 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3982.5750960201226, + 1076.603209827092, + 61.65457029413191 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3981.0750960201226, + 1074.0051336157387, + 61.65457029413191 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3979.5750960201226, + 1071.4070574043853, + 61.65457029413191 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3978.0750960201226, + 1068.808981193032, + 61.65457029413191 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3976.5750960201226, + 1066.2109049816786, + 61.65457029413191 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3975.0750960201226, + 1063.6128287703252, + 61.65457029413191 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3973.5750960201226, + 1061.0147525589718, + 61.65457029413191 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3972.0750960201226, + 1058.4166763476185, + 61.65457029413191 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3970.5750960201226, + 1055.818600136265, + 61.65457029413191 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3969.0750960201226, + 1053.2205239249117, + 61.65457029413191 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3967.5750960201226, + 1050.6224477135584, + 61.65457029413191 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3966.0750960201226, + 1048.024371502205, + 61.65457029413191 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3964.5750960201226, + 1045.4262952908516, + 61.65457029413191 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3932.0, + 984.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-29-24_400660703/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-29-24_400660703/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..14ec05dc44409eab8be657a22b9467eb4367a4ed --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-29-24_400660703/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4187.138097646414, + 1077.3966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4184.540021435061, + 1075.8966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4181.941945223708, + 1074.3966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4179.343869012355, + 1072.8966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4176.745792801002, + 1071.3966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4174.147716589649, + 1069.8966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4171.549640378295, + 1068.3966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4168.951564166942, + 1066.8966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4166.353487955589, + 1065.3966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4163.755411744236, + 1063.8966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4161.157335532883, + 1062.3966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4158.55925932153, + 1060.8966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4155.9611831101765, + 1059.3966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4153.363106898823, + 1057.8966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4150.76503068747, + 1056.3966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4148.166954476117, + 1054.8966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4145.568878264764, + 1053.3966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4142.970802053411, + 1051.8966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4140.372725842058, + 1050.3966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4137.7746496307045, + 1048.8966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4135.176573419351, + 1047.3966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4132.578497207998, + 1045.8966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4129.980420996645, + 1044.3966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4127.382344785292, + 1042.8966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4124.784268573939, + 1041.3966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4122.186192362586, + 1039.8966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4119.5881161512325, + 1038.3966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4116.990039939879, + 1036.8966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4114.391963728526, + 1035.3966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4111.793887517173, + 1033.8966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4109.19581130582, + 1032.3966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4106.597735094467, + 1030.8966407872724, + 41.66284921705512 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4106.597735094467, + 1030.8966407872724, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4105.097735094467, + 1028.298564575919, + 41.66284921705512 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4103.597735094467, + 1025.7004883645657, + 41.66284921705512 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4076.0, + 1004.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-29-43_1863967037/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-29-43_1863967037/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..71b70969d6b28e5aa512cf0b4e90cff269650b6c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-29-43_1863967037/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -813.58763359677, + 391.57962515341563, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -815.08763359677, + 394.17770136476895, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -816.58763359677, + 396.77577757612227, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -818.08763359677, + 399.3738537874756, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -819.58763359677, + 401.9719299988289, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -821.08763359677, + 404.5700062101822, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -822.58763359677, + 407.16808242153553, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -824.08763359677, + 409.76615863288885, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -825.58763359677, + 412.36423484424216, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -827.08763359677, + 414.9623110555955, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -828.58763359677, + 417.5603872669488, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -830.08763359677, + 420.1584634783021, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -831.58763359677, + 422.7565396896554, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -833.08763359677, + 425.35461590100874, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -834.58763359677, + 427.95269211236206, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -836.08763359677, + 430.5507683237154, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -837.58763359677, + 433.1488445350687, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -839.08763359677, + 435.746920746422, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -840.58763359677, + 438.3449969577753, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -842.08763359677, + 440.94307316912864, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -843.58763359677, + 443.54114938048195, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -845.08763359677, + 446.13922559183527, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -846.58763359677, + 448.7373018031886, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -848.08763359677, + 451.3353780145419, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -849.58763359677, + 453.9334542258952, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -851.08763359677, + 456.53153043724853, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -852.58763359677, + 459.12960664860185, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -854.08763359677, + 461.72768285995517, + 63.31557984790869 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -854.08763359677, + 461.72768285995517, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -854.08763359677, + 464.72768285995517, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -854.08763359677, + 467.72768285995517, + 63.31557984790869 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -854.08763359677, + 470.72768285995517, + 63.31557984790869 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -868.0, + 496.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-3-23_1727918107/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-3-23_1727918107/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cad0eb8e3295f07e3b93880c7cd3a5bef224a4a5 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-3-23_1727918107/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 517.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 520.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 523.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 526.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 529.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 532.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 535.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 538.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 541.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 544.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 547.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 550.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 553.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 556.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 559.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 562.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 565.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 568.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 571.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 574.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 577.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 577.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 577.6413903525261, + -8.588161167335414, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 579.1413903525261, + -11.18623737868873, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 580.6413903525261, + -13.784313590042046, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 582.1413903525261, + -16.382389801395362, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 583.6413903525261, + -18.98046601274868, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 585.1413903525261, + -21.578542224101994, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 586.6413903525261, + -24.17661843545531, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 588.1413903525261, + -26.774694646808626, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 589.6413903525261, + -29.372770858161942, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 591.1413903525261, + -31.97084706951526, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 592.6413903525261, + -34.568923280868574, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 594.1413903525261, + -37.16699949222189, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 595.6413903525261, + -39.76507570357521, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 597.1413903525261, + -42.36315191492852, + 46.02993862511499 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 597.1413903525261, + -42.36315191492852, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 599.7394665638794, + -43.86315191492852, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 602.3375427752328, + -45.36315191492852, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 604.9356189865862, + -46.86315191492852, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 607.5336951979396, + -48.36315191492852, + 46.02993862511499 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 610.1317714092929, + -49.86315191492852, + 46.02993862511499 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 640.0, + -64.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-31-18_821319300/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-31-18_821319300/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2cfddef908f8eaedb942a32d901dd5fccbefdb44 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-31-18_821319300/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2314.869350069875, + -1920.4853309030862, + 45.24404101218522 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2317.869350069875, + -1920.4853309030862, + 45.24404101218522 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2320.869350069875, + -1920.4853309030862, + 45.24404101218522 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2323.869350069875, + -1920.4853309030862, + 45.24404101218522 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2326.869350069875, + -1920.4853309030862, + 45.24404101218522 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2329.869350069875, + -1920.4853309030862, + 45.24404101218522 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2332.869350069875, + -1920.4853309030862, + 45.24404101218522 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2335.869350069875, + -1920.4853309030862, + 45.24404101218522 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2338.869350069875, + -1920.4853309030862, + 45.24404101218522 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2341.869350069875, + -1920.4853309030862, + 45.24404101218522 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2344.869350069875, + -1920.4853309030862, + 45.24404101218522 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2347.869350069875, + -1920.4853309030862, + 45.24404101218522 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2350.869350069875, + -1920.4853309030862, + 45.24404101218522 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2444.0, + -1912.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-32-33_763187937/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-32-33_763187937/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..303ef431f610d1f5ec777eebdb1fb7567ac5c0aa --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-32-33_763187937/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2560.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2563.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2566.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2569.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2572.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2575.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2578.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2581.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2584.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2587.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2590.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2593.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2596.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2599.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2602.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2605.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2608.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2611.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2614.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2617.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2620.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2623.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2626.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2629.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2632.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2632.195642319888, + -2332.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2634.793718531241, + -2330.6654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2637.3917947425944, + -2329.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2639.9898709539475, + -2327.6654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2642.5879471653006, + -2326.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2645.186023376654, + -2324.6654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2647.784099588007, + -2323.1654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2650.38217579936, + -2321.6654667883613, + 62.542802421078555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2652.9802520107132, + -2320.1654667883613, + 62.542802421078555 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2684.0, + -2316.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-34-57_2014871043/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-34-57_2014871043/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9ddc2a2696d33de7381e86c48b189e3c0628c5f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-34-57_2014871043/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2493.1755634161127, + -714.7748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2495.773639627466, + -713.2748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2498.371715838819, + -711.7748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2500.969792050172, + -710.2748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2503.5678682615253, + -708.7748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2506.1659444728784, + -707.2748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2508.7640206842316, + -705.7748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2511.3620968955847, + -704.2748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2513.960173106938, + -702.7748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2516.558249318291, + -701.2748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2519.156325529644, + -699.7748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2521.7544017409973, + -698.2748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2524.3524779523505, + -696.7748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2526.9505541637036, + -695.2748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2529.5486303750567, + -693.7748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2532.14670658641, + -692.2748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2534.744782797763, + -690.7748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2537.342859009116, + -689.2748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2539.9409352204693, + -687.7748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2542.5390114318225, + -686.2748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2545.1370876431756, + -684.7748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2547.7351638545288, + -683.2748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2550.333240065882, + -681.7748276457997, + 64.38338719921548 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2550.333240065882, + -681.7748276457997, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2551.833240065882, + -679.1767514344465, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2553.333240065882, + -676.5786752230931, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2554.833240065882, + -673.9805990117397, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2556.333240065882, + -671.3825228003864, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2557.833240065882, + -668.784446589033, + 64.38338719921548 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2559.333240065882, + -666.1863703776796, + 64.38338719921548 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2580.0, + -648.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-35-57_604969710/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-35-57_604969710/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e599046dabefbafdb757c50bf8b22df8ca394c8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-35-57_604969710/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -689.9003787279287, + 131.8908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -686.9003787279287, + 131.8908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -683.9003787279287, + 131.8908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -680.9003787279287, + 131.8908019759466, + 48.23836266400961 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -680.9003787279287, + 131.8908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -678.3023025165753, + 130.3908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -675.7042263052219, + 128.8908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -673.1061500938686, + 127.3908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -670.5080738825152, + 125.8908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -667.9099976711618, + 124.3908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -665.3119214598084, + 122.8908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -662.7138452484551, + 121.3908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -660.1157690371017, + 119.8908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -657.5176928257483, + 118.3908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -654.919616614395, + 116.8908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -652.3215404030416, + 115.3908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -649.7234641916882, + 113.8908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -647.1253879803348, + 112.3908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -644.5273117689815, + 110.8908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -641.9292355576281, + 109.3908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -639.3311593462747, + 107.8908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -636.7330831349213, + 106.3908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -634.135006923568, + 104.8908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -631.5369307122146, + 103.3908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -628.9388545008612, + 101.8908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -626.3407782895079, + 100.3908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -623.7427020781545, + 98.8908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -621.1446258668011, + 97.3908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -618.5465496554477, + 95.8908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -615.9484734440944, + 94.3908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -613.350397232741, + 92.8908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -610.7523210213876, + 91.3908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -608.1542448100342, + 89.8908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -605.5561685986809, + 88.3908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -602.9580923873275, + 86.8908019759466, + 48.23836266400961 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -600.3600161759741, + 85.3908019759466, + 48.23836266400961 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -564.0, + 64.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-4-6_1219015469/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-4-6_1219015469/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..faa028e726148e983ccff947956e9d4754749801 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-4-6_1219015469/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -28.180144960600742, + 306.0387667753091, + 67.58496826386042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -26.680144960600742, + 308.63684298666243, + 67.58496826386042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -25.180144960600742, + 311.23491919801575, + 67.58496826386042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -23.680144960600742, + 313.83299540936906, + 67.58496826386042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -22.180144960600742, + 316.4310716207224, + 67.58496826386042 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -20.680144960600742, + 319.0291478320757, + 67.58496826386042 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.0, + 408.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-40-14_885420959/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-40-14_885420959/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81521a0e59018c3624b79733db8b1f312e57525c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-40-14_885420959/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1238.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1235.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1232.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1229.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1226.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1223.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1220.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1217.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1214.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1211.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1208.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1205.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1202.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1199.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1196.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1193.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1190.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1187.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1184.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1181.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1178.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1175.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1172.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1169.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1166.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1163.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1160.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1157.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1154.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1151.2364604707789, + -1852.9472908424193, + 69.50781418794415 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1136.0, + -1852.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-42-40_2081063046/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-42-40_2081063046/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79f495f855ec3ac3bb215c879b86726bc8751c17 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-42-40_2081063046/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2784.8220049518013, + -2861.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2787.4200811631545, + -2859.8698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2790.0181573745076, + -2858.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2792.6162335858608, + -2856.8698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2795.214309797214, + -2855.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2797.812386008567, + -2853.8698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2800.41046221992, + -2852.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2803.0085384312733, + -2850.8698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2805.6066146426265, + -2849.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2808.2046908539796, + -2847.8698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2810.802767065333, + -2846.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2813.400843276686, + -2844.8698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2815.998919488039, + -2843.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2818.596995699392, + -2841.8698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2821.1950719107454, + -2840.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2823.7931481220985, + -2838.8698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2826.3912243334516, + -2837.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2828.989300544805, + -2835.8698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2831.587376756158, + -2834.3698855141356, + 43.53035030773438 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2831.587376756158, + -2834.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2834.587376756158, + -2834.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2837.587376756158, + -2834.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2840.587376756158, + -2834.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2843.587376756158, + -2834.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2846.587376756158, + -2834.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2849.587376756158, + -2834.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2852.587376756158, + -2834.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2855.587376756158, + -2834.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2858.587376756158, + -2834.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2861.587376756158, + -2834.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2864.587376756158, + -2834.3698855141356, + 43.53035030773438 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2867.587376756158, + -2834.3698855141356, + 43.53035030773438 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2924.0, + -2812.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-45-3_1450967523/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-45-3_1450967523/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c9bf15466beac1310e17c6faef938d18cacf07f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-45-3_1450967523/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2830.030275221413, + 2416.393244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2832.628351432766, + 2414.893244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2835.226427644119, + 2413.393244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2837.8245038554724, + 2411.893244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2840.4225800668255, + 2410.393244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2843.0206562781786, + 2408.893244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2845.618732489532, + 2407.393244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2848.216808700885, + 2405.893244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2850.814884912238, + 2404.393244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2853.4129611235912, + 2402.893244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2856.0110373349444, + 2401.393244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2858.6091135462975, + 2399.893244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2861.2071897576507, + 2398.393244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2863.805265969004, + 2396.893244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2866.403342180357, + 2395.393244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2869.00141839171, + 2393.893244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2871.5994946030632, + 2392.393244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2874.1975708144164, + 2390.893244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2876.7956470257695, + 2389.393244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2879.3937232371227, + 2387.893244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2881.991799448476, + 2386.393244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2884.589875659829, + 2384.893244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2887.187951871182, + 2383.393244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2889.7860280825353, + 2381.893244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2892.3841042938884, + 2380.393244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2894.9821805052416, + 2378.893244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2897.5802567165947, + 2377.393244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2900.178332927948, + 2375.893244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2902.776409139301, + 2374.393244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2905.374485350654, + 2372.893244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2907.9725615620073, + 2371.393244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2910.5706377733604, + 2369.893244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2913.1687139847136, + 2368.393244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2915.7667901960667, + 2366.893244330736, + 46.06549008631906 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2915.7667901960667, + 2366.893244330736, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2917.2667901960667, + 2364.2951681193827, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2918.7667901960667, + 2361.6970919080295, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2920.2667901960667, + 2359.0990156966764, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2921.7667901960667, + 2356.500939485323, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2923.2667901960667, + 2353.90286327397, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2924.7667901960667, + 2351.304787062617, + 46.06549008631906 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2924.7667901960667, + 2351.304787062617, + 46.06549008631906 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915224 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2927.36486640742, + 2349.804787062617, + 46.06549008631906 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915224 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2948.0, + 2336.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-47-12_861798817/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-47-12_861798817/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d5b57143e8c314edea6e8bc8d2805b6a4300db9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-47-12_861798817/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1637.5910997284157, + 1694.5900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1634.9930235170623, + 1696.0900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1632.394947305709, + 1697.5900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1629.7968710943555, + 1699.0900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1627.1987948830022, + 1700.5900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1624.6007186716488, + 1702.0900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1622.0026424602954, + 1703.5900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1619.404566248942, + 1705.0900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1616.8064900375887, + 1706.5900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1614.2084138262353, + 1708.0900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1611.610337614882, + 1709.5900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1609.0122614035286, + 1711.0900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1606.4141851921752, + 1712.5900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1603.8161089808218, + 1714.0900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1601.2180327694684, + 1715.5900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1598.619956558115, + 1717.0900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1596.0218803467617, + 1718.5900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1593.4238041354083, + 1720.0900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1590.825727924055, + 1721.5900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1588.2276517127016, + 1723.0900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1585.6295755013482, + 1724.5900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1583.0314992899948, + 1726.0900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1580.4334230786415, + 1727.5900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1577.835346867288, + 1729.0900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1575.2372706559347, + 1730.5900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1572.6391944445813, + 1732.0900553847364, + 68.7715619529944 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1572.6391944445813, + 1732.0900553847364, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1571.1391944445813, + 1734.6881315960898, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1569.6391944445813, + 1737.2862078074431, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1568.1391944445813, + 1739.8842840187965, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1566.6391944445813, + 1742.4823602301499, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1565.1391944445813, + 1745.0804364415033, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1563.6391944445813, + 1747.6785126528566, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1562.1391944445813, + 1750.27658886421, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1560.6391944445813, + 1752.8746650755634, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1559.1391944445813, + 1755.4727412869167, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1557.6391944445813, + 1758.0708174982701, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1556.1391944445813, + 1760.6688937096235, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1554.6391944445813, + 1763.2669699209769, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1553.1391944445813, + 1765.8650461323302, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1551.6391944445813, + 1768.4631223436836, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1550.1391944445813, + 1771.061198555037, + 68.7715619529944 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1550.1391944445813, + 1771.061198555037, + 68.7715619529944 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1547.541118233228, + 1772.561198555037, + 68.7715619529944 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1524.0, + 1792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-51-18_305425913/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-51-18_305425913/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1765c1b30495c99db12d3fc74631f03da15eead1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-51-18_305425913/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2818.493601150648, + 251.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2818.493601150648, + 254.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2818.493601150648, + 257.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2818.493601150648, + 260.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2818.493601150648, + 263.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2818.493601150648, + 266.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2818.493601150648, + 269.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2818.493601150648, + 272.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2818.493601150648, + 275.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2818.493601150648, + 278.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2818.493601150648, + 281.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2818.493601150648, + 284.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2818.493601150648, + 287.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2818.493601150648, + 290.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2818.493601150648, + 293.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2818.493601150648, + 296.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2818.493601150648, + 299.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2818.493601150648, + 302.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2818.493601150648, + 305.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2818.493601150648, + 308.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2818.493601150648, + 311.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2818.493601150648, + 314.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2818.493601150648, + 317.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2818.493601150648, + 320.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2818.493601150648, + 323.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2818.493601150648, + 326.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2818.493601150648, + 329.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2818.493601150648, + 332.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2818.493601150648, + 335.50770240273687, + 48.89665138559953 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2818.493601150648, + 335.50770240273687, + 48.89665138559953 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2818.493601150648, + 335.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2821.091677362001, + 337.00770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2823.689753573354, + 338.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2826.2878297847074, + 340.00770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2828.8859059960605, + 341.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2831.4839822074136, + 343.00770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2834.082058418767, + 344.50770240273687, + 48.89665138559953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2836.68013463012, + 346.00770240273687, + 48.89665138559953 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2844.0, + 372.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-53-56_231366256/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-53-56_231366256/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f7e536d6ee83dc0853a51e81ab6ec13ec841036 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-53-56_231366256/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1036.0408437268493, + -816.7614737971498, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1033.0408437268493, + -816.7614737971498, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1030.0408437268493, + -816.7614737971498, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1027.0408437268493, + -816.7614737971498, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1024.0408437268493, + -816.7614737971498, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1021.0408437268493, + -816.7614737971498, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1018.0408437268493, + -816.7614737971498, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1015.0408437268493, + -816.7614737971498, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1012.0408437268493, + -816.7614737971498, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1009.0408437268493, + -816.7614737971498, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1006.0408437268493, + -816.7614737971498, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1003.0408437268493, + -816.7614737971498, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1000.0408437268493, + -816.7614737971498, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -997.0408437268493, + -816.7614737971498, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -994.0408437268493, + -816.7614737971498, + 41.47847899618639 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -994.0408437268493, + -816.7614737971498, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -991.4427675154959, + -818.2614737971498, + 41.47847899618639 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -991.4427675154959, + -818.2614737971498, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -989.9427675154959, + -820.8595500085032, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -988.4427675154959, + -823.4576262198566, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -986.9427675154959, + -826.05570243121, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -985.4427675154959, + -828.6537786425633, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -983.9427675154959, + -831.2518548539167, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -982.4427675154959, + -833.8499310652701, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -980.9427675154959, + -836.4480072766235, + 41.47847899618639 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -980.9427675154959, + -836.4480072766235, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -978.3446913041425, + -837.9480072766235, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -975.7466150927892, + -839.4480072766235, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -973.1485388814358, + -840.9480072766235, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -970.5504626700824, + -842.4480072766235, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -967.952386458729, + -843.9480072766235, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -965.3543102473757, + -845.4480072766235, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -962.7562340360223, + -846.9480072766235, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -960.1581578246689, + -848.4480072766235, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -957.5600816133156, + -849.9480072766235, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -954.9620054019622, + -851.4480072766235, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -952.3639291906088, + -852.9480072766235, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -949.7658529792554, + -854.4480072766235, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -947.1677767679021, + -855.9480072766235, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -944.5697005565487, + -857.4480072766235, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -941.9716243451953, + -858.9480072766235, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -939.373548133842, + -860.4480072766235, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -936.7754719224886, + -861.9480072766235, + 41.47847899618639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -934.1773957111352, + -863.4480072766235, + 41.47847899618639 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -920.0, + -868.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-56-40_1122249809/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-56-40_1122249809/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8817353a9b70f5e88918b0e3695aeb3302d2639d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-56-40_1122249809/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2082.235875447071, + 1601.2637107262954, + 58.64008668846829 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2082.235875447071, + 1604.2637107262954, + 58.64008668846829 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2082.235875447071, + 1607.2637107262954, + 58.64008668846829 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2082.235875447071, + 1610.2637107262954, + 58.64008668846829 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2082.235875447071, + 1613.2637107262954, + 58.64008668846829 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2082.235875447071, + 1616.2637107262954, + 58.64008668846829 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2082.235875447071, + 1619.2637107262954, + 58.64008668846829 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2082.235875447071, + 1622.2637107262954, + 58.64008668846829 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2082.235875447071, + 1625.2637107262954, + 58.64008668846829 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2082.235875447071, + 1628.2637107262954, + 58.64008668846829 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2082.235875447071, + 1631.2637107262954, + 58.64008668846829 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2082.235875447071, + 1634.2637107262954, + 58.64008668846829 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2082.235875447071, + 1634.2637107262954, + 58.64008668846829 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2083.735875447071, + 1636.8617869376487, + 58.64008668846829 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2085.235875447071, + 1639.459863149002, + 58.64008668846829 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2086.735875447071, + 1642.0579393603555, + 58.64008668846829 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2088.235875447071, + 1644.6560155717088, + 58.64008668846829 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2089.735875447071, + 1647.2540917830622, + 58.64008668846829 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2100.0, + 1700.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-57-27_1984048626/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-57-27_1984048626/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bdfab1e1851ee5a0c5a963f6b0cacfe6accdec51 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-57-27_1984048626/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2361.359542003262, + 1667.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2363.957618214615, + 1669.314079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2366.5556944259683, + 1670.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2369.1537706373215, + 1672.314079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2371.7518468486746, + 1673.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2374.349923060028, + 1675.314079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2376.947999271381, + 1676.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2379.546075482734, + 1678.314079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2382.144151694087, + 1679.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2384.7422279054404, + 1681.314079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2387.3403041167935, + 1682.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2389.9383803281466, + 1684.314079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2392.5364565395, + 1685.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2395.134532750853, + 1687.314079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2397.732608962206, + 1688.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2400.3306851735592, + 1690.314079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2402.9287613849124, + 1691.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2405.5268375962655, + 1693.314079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2408.1249138076187, + 1694.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2410.722990018972, + 1696.314079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2413.321066230325, + 1697.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2415.919142441678, + 1699.314079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2418.5172186530313, + 1700.814079529697, + 51.44376857599295 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2418.5172186530313, + 1700.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2421.5172186530313, + 1700.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2424.5172186530313, + 1700.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2427.5172186530313, + 1700.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2430.5172186530313, + 1700.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2433.5172186530313, + 1700.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2436.5172186530313, + 1700.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2439.5172186530313, + 1700.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2442.5172186530313, + 1700.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2445.5172186530313, + 1700.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2448.5172186530313, + 1700.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2451.5172186530313, + 1700.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2454.5172186530313, + 1700.814079529697, + 51.44376857599295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2457.5172186530313, + 1700.814079529697, + 51.44376857599295 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2496.0, + 1712.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-57-7_1492586311/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-57-7_1492586311/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cef981e20247bb3a6bccc2fed173e918d673da09 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-57-7_1492586311/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1786.3884428443291, + -1703.9806045830017, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1787.8884428443291, + -1701.3825283716483, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1789.3884428443291, + -1698.784452160295, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1790.8884428443291, + -1696.1863759489415, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1792.3884428443291, + -1693.5882997375882, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1793.8884428443291, + -1690.9902235262348, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1795.3884428443291, + -1688.3921473148814, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1796.8884428443291, + -1685.794071103528, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1798.3884428443291, + -1683.1959948921747, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1799.8884428443291, + -1680.5979186808213, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1801.3884428443291, + -1677.999842469468, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1802.8884428443291, + -1675.4017662581145, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1804.3884428443291, + -1672.8036900467612, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1805.8884428443291, + -1670.2056138354078, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1807.3884428443291, + -1667.6075376240544, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1808.8884428443291, + -1665.009461412701, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1810.3884428443291, + -1662.4113852013477, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1811.8884428443291, + -1659.8133089899943, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1813.3884428443291, + -1657.215232778641, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1814.8884428443291, + -1654.6171565672876, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1816.3884428443291, + -1652.0190803559342, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1817.8884428443291, + -1649.4210041445808, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1819.3884428443291, + -1646.8229279332274, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1820.8884428443291, + -1644.224851721874, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1822.3884428443291, + -1641.6267755105207, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1823.8884428443291, + -1639.0286992991673, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1825.3884428443291, + -1636.430623087814, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1826.8884428443291, + -1633.8325468764606, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1828.3884428443291, + -1631.2344706651072, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1829.8884428443291, + -1628.6363944537538, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1831.3884428443291, + -1626.0383182424005, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1832.8884428443291, + -1623.440242031047, + 46.660188467583005 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1832.8884428443291, + -1623.440242031047, + 46.660188467583005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1832.8884428443291, + -1620.440242031047, + 46.660188467583005 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948872 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1844.0, + -1596.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-58-11_371591002/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-58-11_371591002/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3666d871d1a8dccfa074eb54244865393a2a4c61 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_3-58-11_371591002/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4959.633841532551, + 272.13494875340257, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4958.133841532551, + 274.7330249647559, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4956.633841532551, + 277.3311011761092, + 60.915503249640594 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4956.633841532551, + 277.3311011761092, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4954.035765321198, + 278.8311011761092, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4951.4376891098445, + 280.3311011761092, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4948.839612898491, + 281.8311011761092, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4946.241536687138, + 283.3311011761092, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4943.643460475785, + 284.8311011761092, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4941.045384264432, + 286.3311011761092, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4938.447308053079, + 287.8311011761092, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4935.849231841726, + 289.3311011761092, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4933.2511556303725, + 290.8311011761092, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4930.653079419019, + 292.3311011761092, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4928.055003207666, + 293.8311011761092, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4925.456926996313, + 295.3311011761092, + 60.915503249640594 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4925.456926996313, + 295.3311011761092, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4923.956926996313, + 297.9291773874625, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4922.456926996313, + 300.52725359881583, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4920.956926996313, + 303.12532981016915, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4919.456926996313, + 305.72340602152246, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4917.956926996313, + 308.3214822328758, + 60.915503249640594 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4917.956926996313, + 308.3214822328758, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4917.956926996313, + 311.3214822328758, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4917.956926996313, + 314.3214822328758, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4917.956926996313, + 317.3214822328758, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4917.956926996313, + 320.3214822328758, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4917.956926996313, + 323.3214822328758, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4917.956926996313, + 326.3214822328758, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4917.956926996313, + 329.3214822328758, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4917.956926996313, + 332.3214822328758, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4917.956926996313, + 335.3214822328758, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4917.956926996313, + 338.3214822328758, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4917.956926996313, + 341.3214822328758, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4917.956926996313, + 344.3214822328758, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4917.956926996313, + 347.3214822328758, + 60.915503249640594 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4917.956926996313, + 350.3214822328758, + 60.915503249640594 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4904.0, + 380.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-10-50_43695777/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-10-50_43695777/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..445c1c0e3a69984ad8d9edde1a37cb829de72b41 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-10-50_43695777/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1086.7635132198354, + -1559.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1086.7635132198354, + -1556.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1086.7635132198354, + -1553.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1086.7635132198354, + -1550.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1086.7635132198354, + -1547.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1086.7635132198354, + -1544.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1086.7635132198354, + -1541.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1086.7635132198354, + -1538.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1086.7635132198354, + -1535.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1086.7635132198354, + -1532.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1086.7635132198354, + -1529.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1086.7635132198354, + -1526.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1086.7635132198354, + -1523.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1086.7635132198354, + -1520.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1086.7635132198354, + -1517.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1086.7635132198354, + -1514.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1086.7635132198354, + -1511.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1086.7635132198354, + -1508.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1086.7635132198354, + -1505.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1086.7635132198354, + -1502.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1086.7635132198354, + -1499.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1086.7635132198354, + -1496.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1086.7635132198354, + -1493.847788694256, + 47.75347707108058 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1086.7635132198354, + -1493.847788694256, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1085.2635132198354, + -1491.2497124829026, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1083.7635132198354, + -1488.6516362715493, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1082.2635132198354, + -1486.0535600601959, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1080.7635132198354, + -1483.4554838488425, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1079.2635132198354, + -1480.8574076374891, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1077.7635132198354, + -1478.2593314261358, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1076.2635132198354, + -1475.6612552147824, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1074.7635132198354, + -1473.063179003429, + 47.75347707108058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1073.2635132198354, + -1470.4651027920756, + 47.75347707108058 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1064.0, + -1432.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-11-51_1289511154/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-11-51_1289511154/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae621126749f13813c20092d42f744f01d86794a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-11-51_1289511154/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4110.111429856618, + 2102.357178194172, + 68.4450488808783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4111.611429856618, + 2104.955254405525, + 68.4450488808783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4113.111429856618, + 2107.553330616878, + 68.4450488808783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4114.611429856618, + 2110.1514068282313, + 68.4450488808783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4116.111429856618, + 2112.7494830395844, + 68.4450488808783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4117.611429856618, + 2115.3475592509376, + 68.4450488808783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4119.111429856618, + 2117.9456354622907, + 68.4450488808783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4120.611429856618, + 2120.543711673644, + 68.4450488808783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4122.111429856618, + 2123.141787884997, + 68.4450488808783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4123.611429856618, + 2125.73986409635, + 68.4450488808783 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4123.611429856618, + 2125.73986409635, + 68.4450488808783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948681 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4123.611429856618, + 2128.73986409635, + 68.4450488808783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4123.611429856618, + 2131.73986409635, + 68.4450488808783 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4123.611429856618, + 2134.73986409635, + 68.4450488808783 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4164.0, + 2232.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-12-37_1132205946/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-12-37_1132205946/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e33003b41ea9cd4bea790c3c4ca4dbfe17f20caa --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-12-37_1132205946/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1864.4864323980883, + -1278.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1864.4864323980883, + -1275.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1864.4864323980883, + -1272.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1864.4864323980883, + -1269.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1864.4864323980883, + -1266.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1864.4864323980883, + -1263.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1864.4864323980883, + -1260.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1864.4864323980883, + -1257.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1864.4864323980883, + -1254.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1864.4864323980883, + -1251.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1864.4864323980883, + -1248.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1864.4864323980883, + -1245.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1864.4864323980883, + -1242.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1864.4864323980883, + -1239.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1864.4864323980883, + -1236.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1864.4864323980883, + -1233.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1864.4864323980883, + -1230.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1864.4864323980883, + -1227.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1864.4864323980883, + -1224.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1864.4864323980883, + -1221.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1864.4864323980883, + -1218.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1864.4864323980883, + -1215.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1864.4864323980883, + -1212.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1864.4864323980883, + -1209.4611711019418, + 50.4232622953881 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1864.4864323980883, + -1206.4611711019418, + 50.4232622953881 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1860.0, + -1168.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-13-36_1206266994/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-13-36_1206266994/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..406b2075b2ab579553bfaac74fcb7b99641dfc74 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-13-36_1206266994/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 228.57327957739224, + -1916.8702988589039, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 227.07327957739224, + -1919.4683750702573, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 225.57327957739224, + -1922.0664512816106, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 224.07327957739224, + -1924.664527492964, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 222.57327957739224, + -1927.2626037043174, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 221.07327957739224, + -1929.8606799156707, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 219.57327957739224, + -1932.4587561270241, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 218.07327957739224, + -1935.0568323383775, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 216.57327957739224, + -1937.6549085497309, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 215.07327957739224, + -1940.2529847610842, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 213.57327957739224, + -1942.8510609724376, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 212.07327957739224, + -1945.449137183791, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 210.57327957739224, + -1948.0472133951444, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 209.07327957739224, + -1950.6452896064977, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 207.57327957739224, + -1953.243365817851, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 206.07327957739224, + -1955.8414420292045, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 204.57327957739224, + -1958.4395182405578, + 67.66017515027445 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 204.57327957739224, + -1958.4395182405578, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 201.97520336603893, + -1959.9395182405578, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 199.3771271546856, + -1961.4395182405578, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 196.7790509433323, + -1962.9395182405578, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 194.18097473197898, + -1964.4395182405578, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 191.58289852062566, + -1965.9395182405578, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 188.98482230927235, + -1967.4395182405578, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 186.38674609791903, + -1968.9395182405578, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 183.7886698865657, + -1970.4395182405578, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 181.1905936752124, + -1971.9395182405578, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 178.59251746385908, + -1973.4395182405578, + 67.66017515027445 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 175.99444125250577, + -1974.9395182405578, + 67.66017515027445 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + -2020.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-14-17_1322633623/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-14-17_1322633623/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a70e061d58b128412dc8eb5165dde0ab12d4f93 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-14-17_1322633623/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4502.77592532139, + 1324.6256615796408, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4501.27592532139, + 1327.2237377909942, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4499.77592532139, + 1329.8218140023475, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4498.27592532139, + 1332.419890213701, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4496.77592532139, + 1335.0179664250543, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4495.27592532139, + 1337.6160426364077, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4493.77592532139, + 1340.214118847761, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4492.27592532139, + 1342.8121950591144, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4490.77592532139, + 1345.4102712704678, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4489.27592532139, + 1348.0083474818211, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4487.77592532139, + 1350.6064236931745, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4486.27592532139, + 1353.204499904528, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4484.77592532139, + 1355.8025761158813, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4483.27592532139, + 1358.4006523272346, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4481.77592532139, + 1360.998728538588, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4480.27592532139, + 1363.5968047499414, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4478.77592532139, + 1366.1948809612948, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4477.27592532139, + 1368.7929571726481, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4475.77592532139, + 1371.3910333840015, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4474.27592532139, + 1373.9891095953549, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4472.77592532139, + 1376.5871858067082, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4471.27592532139, + 1379.1852620180616, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4469.77592532139, + 1381.783338229415, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4468.27592532139, + 1384.3814144407684, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4466.77592532139, + 1386.9794906521217, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4465.27592532139, + 1389.577566863475, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4463.77592532139, + 1392.1756430748285, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4462.27592532139, + 1394.7737192861819, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4460.77592532139, + 1397.3717954975352, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4459.27592532139, + 1399.9698717088886, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4457.77592532139, + 1402.567947920242, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4456.27592532139, + 1405.1660241315953, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4454.77592532139, + 1407.7641003429487, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4453.27592532139, + 1410.362176554302, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4451.77592532139, + 1412.9602527656555, + 43.19124872232772 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4450.27592532139, + 1415.5583289770088, + 43.19124872232772 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4436.0, + 1436.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-15-37_1234644696/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-15-37_1234644696/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a0f6d7c2ad2bf82a7ebdb54bb6986ab3d230875 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-15-37_1234644696/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3700.8228315588417, + -2805.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3700.8228315588417, + -2808.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3700.8228315588417, + -2811.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3700.8228315588417, + -2814.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3700.8228315588417, + -2817.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3700.8228315588417, + -2820.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3700.8228315588417, + -2823.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3700.8228315588417, + -2826.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3700.8228315588417, + -2829.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3700.8228315588417, + -2832.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3700.8228315588417, + -2835.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3700.8228315588417, + -2838.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3700.8228315588417, + -2841.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3700.8228315588417, + -2844.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3700.8228315588417, + -2847.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3700.8228315588417, + -2850.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3700.8228315588417, + -2853.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3700.8228315588417, + -2856.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3700.8228315588417, + -2859.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3700.8228315588417, + -2862.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3700.8228315588417, + -2865.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3700.8228315588417, + -2868.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3700.8228315588417, + -2871.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3700.8228315588417, + -2874.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3700.8228315588417, + -2877.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3700.8228315588417, + -2880.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3700.8228315588417, + -2883.9470914442927, + 53.0407822787356 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3700.8228315588417, + -2883.9470914442927, + 53.0407822787356 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3700.8228315588417, + -2883.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3703.420907770195, + -2885.4470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3706.018983981548, + -2886.9470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3708.617060192901, + -2888.4470914442927, + 53.0407822787356 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3708.617060192901, + -2888.4470914442927, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3710.117060192901, + -2891.045167655646, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3711.617060192901, + -2893.643243866999, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3713.117060192901, + -2896.241320078352, + 53.0407822787356 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3714.617060192901, + -2898.8393962897053, + 53.0407822787356 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3716.0, + -2920.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-16-37_217704412/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-16-37_217704412/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..686fa92e58ac7cd60e01773a993ca26541c01a14 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-16-37_217704412/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2211.6315053730345, + -2066.471172083396, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2210.1315053730345, + -2063.873095872043, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2208.6315053730345, + -2061.27501966069, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2207.1315053730345, + -2058.6769434493367, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2205.6315053730345, + -2056.0788672379836, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2204.1315053730345, + -2053.4807910266304, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2202.6315053730345, + -2050.8827148152773, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2201.1315053730345, + -2048.284638603924, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2199.6315053730345, + -2045.6865623925707, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2198.1315053730345, + -2043.0884861812174, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2196.6315053730345, + -2040.490409969864, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2195.1315053730345, + -2037.8923337585106, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2193.6315053730345, + -2035.2942575471573, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2192.1315053730345, + -2032.6961813358039, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2190.6315053730345, + -2030.0981051244505, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2189.1315053730345, + -2027.5000289130971, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2187.6315053730345, + -2024.9019527017438, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2186.1315053730345, + -2022.3038764903904, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2184.6315053730345, + -2019.705800279037, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2183.1315053730345, + -2017.1077240676836, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2181.6315053730345, + -2014.5096478563303, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2180.1315053730345, + -2011.911571644977, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2178.6315053730345, + -2009.3134954336235, + 50.126962250405604 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2178.6315053730345, + -2009.3134954336235, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2178.6315053730345, + -2006.3134954336235, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2178.6315053730345, + -2003.3134954336235, + 50.126962250405604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2178.6315053730345, + -2000.3134954336235, + 50.126962250405604 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2160.0, + -1960.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-17-31_1184812754/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-17-31_1184812754/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e96434a0edf4170d5873ba5fc1e555991830364 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-17-31_1184812754/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -996.2254218987132, + -71.66691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -998.8234981100666, + -70.16691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1001.4215743214199, + -68.66691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1004.0196505327733, + -67.16691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1006.6177267441267, + -65.66691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1009.2158029554801, + -64.16691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1011.8138791668334, + -62.66691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1014.4119553781868, + -61.16691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1017.0100315895402, + -59.66691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1019.6081078008935, + -58.16691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1022.2061840122469, + -56.66691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1024.8042602236003, + -55.16691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1027.4023364349537, + -53.66691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1030.000412646307, + -52.16691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1032.5984888576604, + -50.66691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1035.1965650690138, + -49.16691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1037.7946412803672, + -47.66691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1040.3927174917205, + -46.16691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1042.990793703074, + -44.66691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1045.5888699144273, + -43.16691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1048.1869461257807, + -41.66691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1050.785022337134, + -40.16691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1053.3830985484874, + -38.66691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1055.9811747598408, + -37.16691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1058.5792509711941, + -35.66691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1061.1773271825475, + -34.16691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1063.775403393901, + -32.66691886866673, + 66.58472567746196 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1063.775403393901, + -32.66691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1066.775403393901, + -32.66691886866673, + 66.58472567746196 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1066.775403393901, + -32.66691886866673, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1069.3734796052543, + -31.166918868666727, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1071.9715558166076, + -29.666918868666727, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1074.569632027961, + -28.166918868666727, + 66.58472567746196 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1074.569632027961, + -28.166918868666727, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1076.069632027961, + -25.56884265731341, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1077.569632027961, + -22.970766445960095, + 66.58472567746196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1079.069632027961, + -20.37269023460678, + 66.58472567746196 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1108.0, + -4.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-18-41_831220360/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-18-41_831220360/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3689883116320ade0fb86dcb32b24fed2e8dafb4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-18-41_831220360/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3191.589491740324, + -513.2917273545078, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3190.089491740324, + -515.889803565861, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3188.589491740324, + -518.4878797772144, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3187.089491740324, + -521.0859559885678, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3185.589491740324, + -523.6840321999211, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3184.089491740324, + -526.2821084112745, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3182.589491740324, + -528.8801846226279, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3181.089491740324, + -531.4782608339813, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3179.589491740324, + -534.0763370453346, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3178.089491740324, + -536.674413256688, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3176.589491740324, + -539.2724894680414, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3175.089491740324, + -541.8705656793948, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3173.589491740324, + -544.4686418907481, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3172.089491740324, + -547.0667181021015, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3170.589491740324, + -549.6647943134549, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3169.089491740324, + -552.2628705248082, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3167.589491740324, + -554.8609467361616, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3166.089491740324, + -557.459022947515, + 57.40269939093289 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3166.089491740324, + -557.459022947515, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3163.4914155289707, + -558.959022947515, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3160.8933393176176, + -560.459022947515, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3158.2952631062644, + -561.959022947515, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3155.6971868949113, + -563.459022947515, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3153.099110683558, + -564.959022947515, + 57.40269939093289 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3150.501034472205, + -566.459022947515, + 57.40269939093289 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3120.0, + -604.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-18-57_1653265587/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-18-57_1653265587/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..773c7fb72ec6b81bd77fbf915c47d9d38651949d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-18-57_1653265587/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 543.584727478434, + 1899.6238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 540.9866512670808, + 1901.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 538.3885750557274, + 1902.6238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 535.790498844374, + 1904.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 533.1924226330207, + 1905.6238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 530.5943464216673, + 1907.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 527.9962702103139, + 1908.6238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 525.3981939989606, + 1910.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 522.8001177876072, + 1911.6238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 520.2020415762538, + 1913.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 517.6039653649004, + 1914.6238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 515.0058891535471, + 1916.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 512.4078129421937, + 1917.6238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 509.80973673084037, + 1919.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 507.21166051948705, + 1920.6238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 504.61358430813374, + 1922.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 502.0155080967804, + 1923.6238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 499.4174318854271, + 1925.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 496.8193556740738, + 1926.6238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 494.2212794627205, + 1928.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 491.62320325136716, + 1929.6238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 489.02512704001384, + 1931.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 486.4270508286605, + 1932.6238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 483.8289746173072, + 1934.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 481.2308984059539, + 1935.6238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 478.6328221946006, + 1937.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 476.03474598324726, + 1938.6238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 473.43666977189395, + 1940.1238679388034, + 61.6409647291613 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 473.43666977189395, + 1940.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 470.43666977189395, + 1940.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 467.43666977189395, + 1940.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 464.43666977189395, + 1940.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 461.43666977189395, + 1940.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 458.43666977189395, + 1940.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 455.43666977189395, + 1940.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 452.43666977189395, + 1940.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 449.43666977189395, + 1940.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 446.43666977189395, + 1940.1238679388034, + 61.6409647291613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 443.43666977189395, + 1940.1238679388034, + 61.6409647291613 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 420.0, + 1948.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-22-26_375487534/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-22-26_375487534/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db9436407818067395fc8d0b1bc61960a78b7b14 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-22-26_375487534/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1206.2604954968224, + -216.48331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1203.662419285469, + -214.98331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1201.0643430741156, + -213.48331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1198.4662668627623, + -211.98331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1195.868190651409, + -210.48331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1193.2701144400555, + -208.98331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1190.6720382287021, + -207.48331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1188.0739620173488, + -205.98331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1185.4758858059954, + -204.48331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1182.877809594642, + -202.98331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1180.2797333832887, + -201.48331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1177.6816571719353, + -199.98331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1175.083580960582, + -198.48331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1172.4855047492285, + -196.98331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1169.8874285378752, + -195.48331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1167.2893523265218, + -193.98331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1164.6912761151684, + -192.48331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1162.093199903815, + -190.98331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1159.4951236924617, + -189.48331213557182, + 48.71376138211407 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1159.4951236924617, + -189.48331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1156.4951236924617, + -189.48331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1153.4951236924617, + -189.48331213557182, + 48.71376138211407 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1150.4951236924617, + -189.48331213557182, + 48.71376138211407 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1116.0, + -172.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-22-55_505631809/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-22-55_505631809/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c7492942a53d5cfcf64cd14465c049087ebc1d04 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-22-55_505631809/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 247.86384372209827, + -1923.8293693691032, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 245.26576751074495, + -1925.3293693691032, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 242.66769129939163, + -1926.8293693691032, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 240.06961508803832, + -1928.3293693691032, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 237.471538876685, + -1929.8293693691032, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 234.8734626653317, + -1931.3293693691032, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 232.27538645397837, + -1932.8293693691032, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 229.67731024262505, + -1934.3293693691032, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 227.07923403127174, + -1935.8293693691032, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 224.48115781991842, + -1937.3293693691032, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 221.8830816085651, + -1938.8293693691032, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 219.2850053972118, + -1940.3293693691032, + 59.49858712706887 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 219.2850053972118, + -1940.3293693691032, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 217.7850053972118, + -1942.9274455804566, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 216.2850053972118, + -1945.52552179181, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 214.7850053972118, + -1948.1235980031634, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 213.2850053972118, + -1950.7216742145167, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 211.7850053972118, + -1953.31975042587, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 210.2850053972118, + -1955.9178266372235, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 208.7850053972118, + -1958.5159028485768, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 207.2850053972118, + -1961.1139790599302, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 205.7850053972118, + -1963.7120552712836, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 204.2850053972118, + -1966.310131482637, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 202.7850053972118, + -1968.9082076939903, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 201.2850053972118, + -1971.5062839053437, + 59.49858712706887 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 201.2850053972118, + -1971.5062839053437, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 201.2850053972118, + -1974.5062839053437, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 201.2850053972118, + -1977.5062839053437, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 201.2850053972118, + -1980.5062839053437, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 201.2850053972118, + -1983.5062839053437, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 201.2850053972118, + -1986.5062839053437, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 201.2850053972118, + -1989.5062839053437, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 201.2850053972118, + -1992.5062839053437, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 201.2850053972118, + -1995.5062839053437, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 201.2850053972118, + -1998.5062839053437, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 201.2850053972118, + -2001.5062839053437, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 201.2850053972118, + -2004.5062839053437, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 201.2850053972118, + -2007.5062839053437, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 201.2850053972118, + -2010.5062839053437, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 201.2850053972118, + -2013.5062839053437, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 201.2850053972118, + -2016.5062839053437, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 201.2850053972118, + -2019.5062839053437, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 201.2850053972118, + -2022.5062839053437, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 201.2850053972118, + -2025.5062839053437, + 59.49858712706887 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 201.2850053972118, + -2028.5062839053437, + 59.49858712706887 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 196.0, + -2044.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-25-40_93232173/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-25-40_93232173/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..003dcc7555b297f1bd1ca175c94526d272d40f91 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-25-40_93232173/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1212.1475153394097, + -2196.099580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1214.745591550763, + -2194.599580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1217.3436677621164, + -2193.099580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1219.9417439734698, + -2191.599580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1222.5398201848232, + -2190.099580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1225.1378963961765, + -2188.599580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1227.73597260753, + -2187.099580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1230.3340488188833, + -2185.599580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1232.9321250302366, + -2184.099580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1235.53020124159, + -2182.599580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1238.1282774529434, + -2181.099580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1240.7263536642968, + -2179.599580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1243.3244298756501, + -2178.099580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1245.9225060870035, + -2176.599580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1248.5205822983569, + -2175.099580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1251.1186585097103, + -2173.599580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1253.7167347210636, + -2172.099580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1256.314810932417, + -2170.599580156404, + 62.64658755492311 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1256.314810932417, + -2170.599580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1259.314810932417, + -2170.599580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1262.314810932417, + -2170.599580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1265.314810932417, + -2170.599580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1268.314810932417, + -2170.599580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1271.314810932417, + -2170.599580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1274.314810932417, + -2170.599580156404, + 62.64658755492311 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1277.314810932417, + -2170.599580156404, + 62.64658755492311 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1324.0, + -2152.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-28-25_560711564/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-28-25_560711564/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e868db1879bc24c48d2e611d8bea13aade73932 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-28-25_560711564/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3066.336667765231, + 1894.5684693220308, + 66.64457622998574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3063.336667765231, + 1894.5684693220308, + 66.64457622998574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3060.336667765231, + 1894.5684693220308, + 66.64457622998574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3057.336667765231, + 1894.5684693220308, + 66.64457622998574 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3054.336667765231, + 1894.5684693220308, + 66.64457622998574 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2932.0, + 1876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-29-7_179486052/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-29-7_179486052/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d72434be0ed5719bfd576521efad09489da120f8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-29-7_179486052/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2497.819244494126, + -654.5893181284387, + 59.94995873624313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2499.319244494126, + -651.9912419170853, + 59.94995873624313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2500.819244494126, + -649.3931657057319, + 59.94995873624313 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2568.0, + -580.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-32-12_2119389304/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-32-12_2119389304/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d9e7fdf87d5e386a2e7b83560ae550562013b69 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-32-12_2119389304/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1721.1764681067104, + 796.8818497180573, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1719.6764681067104, + 799.4799259294107, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1718.1764681067104, + 802.078002140764, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1716.6764681067104, + 804.6760783521174, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1715.1764681067104, + 807.2741545634708, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1713.6764681067104, + 809.8722307748242, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1712.1764681067104, + 812.4703069861775, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1710.6764681067104, + 815.0683831975309, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1709.1764681067104, + 817.6664594088843, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1707.6764681067104, + 820.2645356202377, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1706.1764681067104, + 822.862611831591, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1704.6764681067104, + 825.4606880429444, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1703.1764681067104, + 828.0587642542978, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1701.6764681067104, + 830.6568404656512, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1700.1764681067104, + 833.2549166770045, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1698.6764681067104, + 835.8529928883579, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1697.1764681067104, + 838.4510690997113, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1695.6764681067104, + 841.0491453110646, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1694.1764681067104, + 843.647221522418, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1692.6764681067104, + 846.2452977337714, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1691.1764681067104, + 848.8433739451248, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1689.6764681067104, + 851.4414501564781, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1688.1764681067104, + 854.0395263678315, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1686.6764681067104, + 856.6376025791849, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1685.1764681067104, + 859.2356787905383, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1683.6764681067104, + 861.8337550018916, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1682.1764681067104, + 864.431831213245, + 43.96945438106553 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1682.1764681067104, + 864.431831213245, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1682.1764681067104, + 867.431831213245, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1682.1764681067104, + 870.431831213245, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1682.1764681067104, + 873.431831213245, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1682.1764681067104, + 876.431831213245, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1682.1764681067104, + 879.431831213245, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1682.1764681067104, + 882.431831213245, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1682.1764681067104, + 885.431831213245, + 43.96945438106553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1682.1764681067104, + 888.431831213245, + 43.96945438106553 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1672.0, + 912.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-35-9_1478633400/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-35-9_1478633400/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..851e85c7fb47eb3ade46fb5e679221bf2455747f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-35-9_1478633400/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1898.368986062575, + -493.22485699028437, + 61.892823235398716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1899.868986062575, + -490.62678077893105, + 61.892823235398716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1901.368986062575, + -488.02870456757773, + 61.892823235398716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1902.868986062575, + -485.4306283562244, + 61.892823235398716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1904.368986062575, + -482.8325521448711, + 61.892823235398716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1905.868986062575, + -480.2344759335178, + 61.892823235398716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1907.368986062575, + -477.63639972216447, + 61.892823235398716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1908.868986062575, + -475.03832351081115, + 61.892823235398716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1910.368986062575, + -472.44024729945784, + 61.892823235398716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1911.868986062575, + -469.8421710881045, + 61.892823235398716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1913.368986062575, + -467.2440948767512, + 61.892823235398716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1914.868986062575, + -464.6460186653979, + 61.892823235398716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1916.368986062575, + -462.0479424540446, + 61.892823235398716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1917.868986062575, + -459.44986624269126, + 61.892823235398716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1919.368986062575, + -456.85179003133794, + 61.892823235398716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1920.868986062575, + -454.2537138199846, + 61.892823235398716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1922.368986062575, + -451.6556376086313, + 61.892823235398716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1923.868986062575, + -449.057561397278, + 61.892823235398716 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1948.0, + -404.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-38-48_1410553902/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-38-48_1410553902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..536a79164d1795e8d075a798f2abd889db71766a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-38-48_1410553902/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2795.688582587991, + -2995.8997819090646, + 66.53414756920961 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2793.0905063766377, + -2994.3997819090646, + 66.53414756920961 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2790.4924301652845, + -2992.8997819090646, + 66.53414756920961 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2787.8943539539314, + -2991.3997819090646, + 66.53414756920961 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2785.2962777425782, + -2989.8997819090646, + 66.53414756920961 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2782.698201531225, + -2988.3997819090646, + 66.53414756920961 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2780.100125319872, + -2986.8997819090646, + 66.53414756920961 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2777.502049108519, + -2985.3997819090646, + 66.53414756920961 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2774.9039728971657, + -2983.8997819090646, + 66.53414756920961 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2772.3058966858125, + -2982.3997819090646, + 66.53414756920961 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2772.3058966858125, + -2982.3997819090646, + 66.53414756920961 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2769.3058966858125, + -2982.3997819090646, + 66.53414756920961 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2766.3058966858125, + -2982.3997819090646, + 66.53414756920961 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2763.3058966858125, + -2982.3997819090646, + 66.53414756920961 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2760.3058966858125, + -2982.3997819090646, + 66.53414756920961 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2757.3058966858125, + -2982.3997819090646, + 66.53414756920961 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2754.3058966858125, + -2982.3997819090646, + 66.53414756920961 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2751.3058966858125, + -2982.3997819090646, + 66.53414756920961 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2748.3058966858125, + -2982.3997819090646, + 66.53414756920961 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2684.0, + -2960.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-41-30_1599184492/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-41-30_1599184492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cfe404213af6d3ce3c3ffe348188005fe8a380aa --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-41-30_1599184492/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1272.665135968126, + -2568.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1269.665135968126, + -2568.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1266.665135968126, + -2568.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1263.665135968126, + -2568.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1260.665135968126, + -2568.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1257.665135968126, + -2568.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1254.665135968126, + -2568.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1251.665135968126, + -2568.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1248.665135968126, + -2568.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1245.665135968126, + -2568.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1242.665135968126, + -2568.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1239.665135968126, + -2568.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1236.665135968126, + -2568.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1233.665135968126, + -2568.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1230.665135968126, + -2568.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1227.665135968126, + -2568.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1224.665135968126, + -2568.753259387137, + 43.218563630831675 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1224.665135968126, + -2568.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1222.0670597567726, + -2570.253259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1219.4689835454192, + -2571.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1216.8709073340658, + -2573.253259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1214.2728311227124, + -2574.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1211.674754911359, + -2576.253259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1209.0766787000057, + -2577.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1206.4786024886523, + -2579.253259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1203.880526277299, + -2580.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1201.2824500659456, + -2582.253259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1198.6843738545922, + -2583.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1196.0862976432388, + -2585.253259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1193.4882214318854, + -2586.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1190.890145220532, + -2588.253259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1188.2920690091787, + -2589.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1185.6939927978253, + -2591.253259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1183.095916586472, + -2592.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1180.4978403751186, + -2594.253259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1177.8997641637652, + -2595.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1175.3016879524118, + -2597.253259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1172.7036117410585, + -2598.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1170.105535529705, + -2600.253259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1167.5074593183517, + -2601.753259387137, + 43.218563630831675 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1164.9093831069983, + -2603.253259387137, + 43.218563630831675 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1136.0, + -2612.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-42-21_1045552368/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-42-21_1045552368/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..202cdd53593c4cb6cfd873a4cee2d3c7c0028cfb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-42-21_1045552368/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -728.4595951803177, + -2641.103132515512, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -725.4595951803177, + -2641.103132515512, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -722.4595951803177, + -2641.103132515512, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -719.4595951803177, + -2641.103132515512, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -716.4595951803177, + -2641.103132515512, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -713.4595951803177, + -2641.103132515512, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -710.4595951803177, + -2641.103132515512, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -707.4595951803177, + -2641.103132515512, + 45.86834417120459 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -707.4595951803177, + -2641.103132515512, + 45.86834417120459 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -707.4595951803177, + -2641.103132515512, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -705.9595951803177, + -2638.5050563041586, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -704.4595951803177, + -2635.9069800928055, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -702.9595951803177, + -2633.3089038814524, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -701.4595951803177, + -2630.710827670099, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -699.9595951803177, + -2628.112751458746, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -698.4595951803177, + -2625.514675247393, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -696.9595951803177, + -2622.9165990360398, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -695.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -695.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982706 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -695.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": -2.8199664825478976e-14 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -692.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -689.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -686.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -683.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -680.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -677.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -674.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -671.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -668.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -665.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -662.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -659.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -656.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -653.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -650.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -647.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -644.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -641.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -638.4595951803177, + -2620.3185228246866, + 45.86834417120459 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -616.0, + -2612.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-47-32_1648609/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-47-32_1648609/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f0049c87ad4e15974493f47ffc5b6fc013e07f8b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-47-32_1648609/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4050.1942169842405, + -211.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4050.1942169842405, + -208.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4050.1942169842405, + -205.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4050.1942169842405, + -202.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4050.1942169842405, + -199.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4050.1942169842405, + -196.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4050.1942169842405, + -193.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4050.1942169842405, + -190.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4050.1942169842405, + -187.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4050.1942169842405, + -184.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4050.1942169842405, + -181.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4050.1942169842405, + -178.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4050.1942169842405, + -175.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4050.1942169842405, + -172.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4050.1942169842405, + -169.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4050.1942169842405, + -166.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4050.1942169842405, + -163.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4050.1942169842405, + -160.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4050.1942169842405, + -157.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4050.1942169842405, + -154.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4050.1942169842405, + -151.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4050.1942169842405, + -148.72242848452566, + 48.08248088092334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4050.1942169842405, + -145.72242848452566, + 48.08248088092334 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4048.0, + -108.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-50-55_139536873/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-50-55_139536873/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20416296bf8498d5bddfc94aca4729fb9d938fbf --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-50-55_139536873/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1844.2284610225188, + -1749.785439763044, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1845.7284610225188, + -1747.1873635516906, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1847.2284610225188, + -1744.5892873403373, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1848.7284610225188, + -1741.9912111289839, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1850.2284610225188, + -1739.3931349176305, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1851.7284610225188, + -1736.7950587062771, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1853.2284610225188, + -1734.1969824949238, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1854.7284610225188, + -1731.5989062835704, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1856.2284610225188, + -1729.000830072217, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1857.7284610225188, + -1726.4027538608636, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1859.2284610225188, + -1723.8046776495103, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1860.7284610225188, + -1721.206601438157, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1862.2284610225188, + -1718.6085252268035, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1863.7284610225188, + -1716.0104490154501, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1865.2284610225188, + -1713.4123728040968, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1866.7284610225188, + -1710.8142965927434, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1868.2284610225188, + -1708.21622038139, + 47.50904633148055 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1868.2284610225188, + -1708.21622038139, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1868.2284610225188, + -1705.21622038139, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1868.2284610225188, + -1702.21622038139, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1868.2284610225188, + -1699.21622038139, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1868.2284610225188, + -1696.21622038139, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1868.2284610225188, + -1693.21622038139, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1868.2284610225188, + -1690.21622038139, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1868.2284610225188, + -1687.21622038139, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1868.2284610225188, + -1684.21622038139, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1868.2284610225188, + -1681.21622038139, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1868.2284610225188, + -1678.21622038139, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1868.2284610225188, + -1675.21622038139, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1868.2284610225188, + -1672.21622038139, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1868.2284610225188, + -1669.21622038139, + 47.50904633148055 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1868.2284610225188, + -1666.21622038139, + 47.50904633148055 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1884.0, + -1620.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-51-35_1012707329/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-51-35_1012707329/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9528df9413505d16fe100e0208c007fc7af5d518 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-51-35_1012707329/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -536.7898992967253, + -2219.20938243817, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -533.7898992967253, + -2219.20938243817, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -530.7898992967253, + -2219.20938243817, + 42.03600139690868 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -530.7898992967253, + -2219.20938243817, + 42.03600139690868 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -530.7898992967253, + -2219.20938243817, + 42.03600139690868 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -530.7898992967253, + -2219.20938243817, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -530.7898992967253, + -2216.20938243817, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -530.7898992967253, + -2213.20938243817, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -530.7898992967253, + -2210.20938243817, + 42.03600139690868 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -530.7898992967253, + -2210.20938243817, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -529.2898992967253, + -2207.611306226817, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -527.7898992967253, + -2205.0132300154637, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -526.2898992967253, + -2202.4151538041106, + 42.03600139690868 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -526.2898992967253, + -2202.4151538041106, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948681 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -526.2898992967253, + -2199.4151538041106, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -526.2898992967253, + -2196.4151538041106, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -526.2898992967253, + -2193.4151538041106, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -526.2898992967253, + -2190.4151538041106, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -526.2898992967253, + -2187.4151538041106, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -526.2898992967253, + -2184.4151538041106, + 42.03600139690868 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -526.2898992967253, + -2184.4151538041106, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -527.7898992967253, + -2181.8170775927574, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -529.2898992967253, + -2179.2190013814043, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -530.7898992967253, + -2176.620925170051, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -532.2898992967253, + -2174.022848958698, + 42.03600139690868 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -532.2898992967253, + -2174.022848958698, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -534.8879755080786, + -2172.522848958698, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -537.486051719432, + -2171.022848958698, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -540.0841279307854, + -2169.522848958698, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -542.6822041421387, + -2168.022848958698, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -545.2802803534921, + -2166.522848958698, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -547.8783565648455, + -2165.022848958698, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -550.4764327761989, + -2163.522848958698, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -553.0745089875522, + -2162.022848958698, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -555.6725851989056, + -2160.522848958698, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -558.270661410259, + -2159.022848958698, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -560.8687376216124, + -2157.522848958698, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -563.4668138329657, + -2156.022848958698, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -566.0648900443191, + -2154.522848958698, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -568.6629662556725, + -2153.022848958698, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -571.2610424670258, + -2151.522848958698, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -573.8591186783792, + -2150.022848958698, + 42.03600139690868 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -573.8591186783792, + -2150.022848958698, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -575.3591186783792, + -2147.424772747345, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -576.8591186783792, + -2144.8266965359917, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -578.3591186783792, + -2142.2286203246385, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -579.8591186783792, + -2139.6305441132854, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -581.3591186783792, + -2137.0324679019323, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -582.8591186783792, + -2134.434391690579, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -584.3591186783792, + -2131.836315479226, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -585.8591186783792, + -2129.238239267873, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -587.3591186783792, + -2126.6401630565197, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -588.8591186783792, + -2124.0420868451665, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -590.3591186783792, + -2121.4440106338134, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -591.8591186783792, + -2118.8459344224602, + 42.03600139690868 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -593.3591186783792, + -2116.247858211107, + 42.03600139690868 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -604.0, + -2096.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-53-23_1696253215/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-53-23_1696253215/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d87966b8814b761a41a94f9ca4ef74dc3b2dc511 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-53-23_1696253215/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2010.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2007.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2004.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2001.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1998.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1995.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1992.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1989.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1986.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1983.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1980.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1977.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1974.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1971.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1968.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1965.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1962.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1959.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1956.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1953.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1950.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1947.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1944.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1941.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1938.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1935.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1932.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1929.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1926.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1923.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1920.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1917.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1914.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1911.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1908.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1905.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1902.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1899.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1896.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1893.6766845282616, + 849.9092416958533, + 68.79207075300901 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1872.0, + 848.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-54-27_1759726503/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-54-27_1759726503/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77ee79529a51c307d4de98265c8a22aa46e5ab4f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-54-27_1759726503/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4196.849863452584, + 1389.8137065702595, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4198.349863452584, + 1387.215630358906, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4199.849863452584, + 1384.6175541475527, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4201.349863452584, + 1382.0194779361993, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4202.849863452584, + 1379.421401724846, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4204.349863452584, + 1376.8233255134926, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4205.849863452584, + 1374.2252493021392, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4207.349863452584, + 1371.6271730907858, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4208.849863452584, + 1369.0290968794325, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4210.349863452584, + 1366.431020668079, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4211.849863452584, + 1363.8329444567257, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4213.349863452584, + 1361.2348682453724, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4214.849863452584, + 1358.636792034019, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4216.349863452584, + 1356.0387158226656, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4217.849863452584, + 1353.4406396113122, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4219.349863452584, + 1350.8425633999589, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4220.849863452584, + 1348.2444871886055, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4222.349863452584, + 1345.6464109772521, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4223.849863452584, + 1343.0483347658987, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4225.349863452584, + 1340.4502585545454, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4226.849863452584, + 1337.852182343192, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4228.349863452584, + 1335.2541061318386, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4229.849863452584, + 1332.6560299204853, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4231.349863452584, + 1330.0579537091319, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4232.849863452584, + 1327.4598774977785, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4234.349863452584, + 1324.8618012864251, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4235.849863452584, + 1322.2637250750718, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4237.349863452584, + 1319.6656488637184, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4238.849863452584, + 1317.067572652365, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4240.349863452584, + 1314.4694964410116, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4241.849863452584, + 1311.8714202296583, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4243.349863452584, + 1309.273344018305, + 58.152843334894456 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4243.349863452584, + 1309.273344018305, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4243.349863452584, + 1306.273344018305, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4243.349863452584, + 1303.273344018305, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4243.349863452584, + 1300.273344018305, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4243.349863452584, + 1297.273344018305, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4243.349863452584, + 1294.273344018305, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4243.349863452584, + 1291.273344018305, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4243.349863452584, + 1288.273344018305, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4243.349863452584, + 1285.273344018305, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4243.349863452584, + 1282.273344018305, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4243.349863452584, + 1279.273344018305, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4243.349863452584, + 1276.273344018305, + 58.152843334894456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 4243.349863452584, + 1273.273344018305, + 58.152843334894456 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4252.0, + 1252.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-59-16_1751062934/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-59-16_1751062934/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4620cb15eaa2914e596b85826101e5a1ced23dd0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-59-16_1751062934/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 494.84507306603183, + 1601.1273082174173, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 493.34507306603183, + 1603.7253844287707, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 491.84507306603183, + 1606.323460640124, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 490.34507306603183, + 1608.9215368514774, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 488.84507306603183, + 1611.5196130628308, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 487.34507306603183, + 1614.1176892741842, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 485.84507306603183, + 1616.7157654855375, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 484.34507306603183, + 1619.313841696891, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 482.84507306603183, + 1621.9119179082443, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 481.34507306603183, + 1624.5099941195976, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 479.84507306603183, + 1627.108070330951, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 478.34507306603183, + 1629.7061465423044, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 476.84507306603183, + 1632.3042227536578, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 475.34507306603183, + 1634.9022989650111, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 473.84507306603183, + 1637.5003751763645, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 472.34507306603183, + 1640.098451387718, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 470.84507306603183, + 1642.6965275990713, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 469.34507306603183, + 1645.2946038104246, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 467.84507306603183, + 1647.892680021778, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 466.34507306603183, + 1650.4907562331314, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 464.84507306603183, + 1653.0888324444848, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 463.34507306603183, + 1655.6869086558381, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 461.84507306603183, + 1658.2849848671915, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 460.34507306603183, + 1660.8830610785449, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 458.84507306603183, + 1663.4811372898982, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 457.34507306603183, + 1666.0792135012516, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 455.84507306603183, + 1668.677289712605, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 454.34507306603183, + 1671.2753659239584, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 452.84507306603183, + 1673.8734421353117, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 451.34507306603183, + 1676.471518346665, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 449.84507306603183, + 1679.0695945580185, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 448.34507306603183, + 1681.6676707693719, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 446.84507306603183, + 1684.2657469807252, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 445.34507306603183, + 1686.8638231920786, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 443.84507306603183, + 1689.461899403432, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 442.34507306603183, + 1692.0599756147853, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 440.84507306603183, + 1694.6580518261387, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 439.34507306603183, + 1697.256128037492, + 54.448561578915964 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 437.84507306603183, + 1699.8542042488455, + 54.448561578915964 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 420.0, + 1728.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-6-40_1785252277/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-6-40_1785252277/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..50acf87bbdf6346fd79bb45546c193fcb2cf63b3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-6-40_1785252277/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1398.104190112854, + -965.5760288802344, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1396.604190112854, + -968.1741050915878, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1395.104190112854, + -970.7721813029411, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1393.604190112854, + -973.3702575142945, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1392.104190112854, + -975.9683337256479, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1390.604190112854, + -978.5664099370013, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1389.104190112854, + -981.1644861483546, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1387.604190112854, + -983.762562359708, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1386.104190112854, + -986.3606385710614, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1384.604190112854, + -988.9587147824147, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1383.104190112854, + -991.5567909937681, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1381.604190112854, + -994.1548672051215, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1380.104190112854, + -996.7529434164749, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1378.604190112854, + -999.3510196278282, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1377.104190112854, + -1001.9490958391816, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1375.604190112854, + -1004.547172050535, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1374.104190112854, + -1007.1452482618884, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1372.604190112854, + -1009.7433244732417, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1371.104190112854, + -1012.3414006845951, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1369.604190112854, + -1014.9394768959485, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1368.104190112854, + -1017.5375531073018, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1366.604190112854, + -1020.1356293186552, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1365.104190112854, + -1022.7337055300086, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1363.604190112854, + -1025.331781741362, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1362.104190112854, + -1027.9298579527153, + 44.68996879872552 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1362.104190112854, + -1027.9298579527153, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1359.5061139015006, + -1029.4298579527153, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1356.9080376901472, + -1030.9298579527153, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1354.3099614787939, + -1032.4298579527153, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1351.7118852674405, + -1033.9298579527153, + 44.68996879872552 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1349.1138090560871, + -1035.4298579527153, + 44.68996879872552 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1336.0, + -1052.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-7-0_1179478661/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-7-0_1179478661/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f0b7bc67f784a9a89bfbb0d4e2d1107a6af183a6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-7-0_1179478661/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4532.715416883367, + 999.6165291572082, + 55.39847191392995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4531.215416883367, + 997.018452945855, + 55.39847191392995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4529.715416883367, + 994.4203767345016, + 55.39847191392995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4528.215416883367, + 991.8223005231482, + 55.39847191392995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4526.715416883367, + 989.2242243117948, + 55.39847191392995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4525.215416883367, + 986.6261481004415, + 55.39847191392995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4523.715416883367, + 984.0280718890881, + 55.39847191392995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4522.215416883367, + 981.4299956777347, + 55.39847191392995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4520.715416883367, + 978.8319194663814, + 55.39847191392995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4519.215416883367, + 976.233843255028, + 55.39847191392995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4517.715416883367, + 973.6357670436746, + 55.39847191392995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4516.215416883367, + 971.0376908323212, + 55.39847191392995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4514.715416883367, + 968.4396146209679, + 55.39847191392995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4513.215416883367, + 965.8415384096145, + 55.39847191392995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4511.715416883367, + 963.2434621982611, + 55.39847191392995 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4511.715416883367, + 963.2434621982611, + 55.39847191392995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4511.715416883367, + 960.2434621982611, + 55.39847191392995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4511.715416883367, + 957.2434621982611, + 55.39847191392995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4511.715416883367, + 954.2434621982611, + 55.39847191392995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4511.715416883367, + 951.2434621982611, + 55.39847191392995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4511.715416883367, + 948.2434621982611, + 55.39847191392995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4511.715416883367, + 945.2434621982611, + 55.39847191392995 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4492.0, + 896.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-8-27_1158671754/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-8-27_1158671754/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ea4d727bf3767adb355881896e38beebdaab7ff --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-8-27_1158671754/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 9.665259575206019, + -2188.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 9.665259575206019, + -2185.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 9.665259575206019, + -2182.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 9.665259575206019, + -2179.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 9.665259575206019, + -2176.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 9.665259575206019, + -2173.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 9.665259575206019, + -2170.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 9.665259575206019, + -2167.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 9.665259575206019, + -2164.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 9.665259575206019, + -2161.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 9.665259575206019, + -2158.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 9.665259575206019, + -2155.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 9.665259575206019, + -2152.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 9.665259575206019, + -2149.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 9.665259575206019, + -2146.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 9.665259575206019, + -2143.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 9.665259575206019, + -2140.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 9.665259575206019, + -2137.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 9.665259575206019, + -2134.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 9.665259575206019, + -2131.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 9.665259575206019, + -2128.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 9.665259575206019, + -2125.625857842121, + 45.58496170759175 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 9.665259575206019, + -2125.625857842121, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 8.165259575206019, + -2123.027781630768, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 6.6652595752060195, + -2120.429705419415, + 45.58496170759175 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 5.16525957520602, + -2117.8316292080617, + 45.58496170759175 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4.0, + -2080.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-9-40_1893051878/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-9-40_1893051878/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b58cb0c4819ed99810e9d5712eee030d10a0e154 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-9-40_1893051878/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -662.2541617454531, + 2492.771659901186, + 52.30761272526811 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -664.8522379568064, + 2494.271659901186, + 52.30761272526811 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -667.4503141681598, + 2495.771659901186, + 52.30761272526811 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -670.0483903795132, + 2497.271659901186, + 52.30761272526811 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -772.0, + 2584.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-9-47_201345764/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-9-47_201345764/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ab445930317ee2b8c6385acc6d43af796c47bfb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_4-9-47_201345764/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2879.225870979291, + -2453.3516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2881.823947190644, + -2454.8516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2884.422023401997, + -2456.3516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2887.0200996133503, + -2457.8516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2889.6181758247035, + -2459.3516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2892.2162520360566, + -2460.8516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2894.81432824741, + -2462.3516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2897.412404458763, + -2463.8516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2900.010480670116, + -2465.3516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2902.608556881469, + -2466.8516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2905.2066330928224, + -2468.3516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2907.8047093041755, + -2469.8516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2910.4027855155286, + -2471.3516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2913.000861726882, + -2472.8516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2915.598937938235, + -2474.3516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2918.197014149588, + -2475.8516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2920.7950903609412, + -2477.3516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2923.3931665722944, + -2478.8516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2925.9912427836475, + -2480.3516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2928.5893189950007, + -2481.8516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2931.187395206354, + -2483.3516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2933.785471417707, + -2484.8516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2936.38354762906, + -2486.3516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2938.9816238404132, + -2487.8516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2941.5797000517664, + -2489.3516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2944.1777762631195, + -2490.8516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2946.7758524744727, + -2492.3516154645363, + 60.16904679763047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2949.373928685826, + -2493.8516154645363, + 60.16904679763047 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2972.0, + -2508.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-0-21_1164585770/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-0-21_1164585770/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a1cafd2b1683f2ceeec62037a0a0e94e6a2d2da --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-0-21_1164585770/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2029.3238025443159, + -2499.0763217781396, + 54.23621399568781 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2032.3238025443159, + -2499.0763217781396, + 54.23621399568781 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2035.3238025443159, + -2499.0763217781396, + 54.23621399568781 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2038.3238025443159, + -2499.0763217781396, + 54.23621399568781 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2041.3238025443159, + -2499.0763217781396, + 54.23621399568781 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2044.3238025443159, + -2499.0763217781396, + 54.23621399568781 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2047.3238025443159, + -2499.0763217781396, + 54.23621399568781 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2050.323802544316, + -2499.0763217781396, + 54.23621399568781 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2053.323802544316, + -2499.0763217781396, + 54.23621399568781 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2056.323802544316, + -2499.0763217781396, + 54.23621399568781 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2056.323802544316, + -2499.0763217781396, + 54.23621399568781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2058.9218787556692, + -2497.5763217781396, + 54.23621399568781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2061.5199549670224, + -2496.0763217781396, + 54.23621399568781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2064.1180311783755, + -2494.5763217781396, + 54.23621399568781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2066.7161073897287, + -2493.0763217781396, + 54.23621399568781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2069.314183601082, + -2491.5763217781396, + 54.23621399568781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2071.912259812435, + -2490.0763217781396, + 54.23621399568781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2074.510336023788, + -2488.5763217781396, + 54.23621399568781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2077.1084122351413, + -2487.0763217781396, + 54.23621399568781 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2140.0, + -2472.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-1-49_84041882/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-1-49_84041882/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..65190987440202fbedd4f296454246eef3313bbb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-1-49_84041882/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2995.1147223170924, + 2022.4288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2992.5166461057393, + 2020.9288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2989.918569894386, + 2019.4288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2987.320493683033, + 2017.9288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2984.72241747168, + 2016.4288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2982.1243412603267, + 2014.9288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2979.5262650489735, + 2013.4288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2976.9281888376204, + 2011.9288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2974.3301126262672, + 2010.4288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2971.732036414914, + 2008.9288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2969.133960203561, + 2007.4288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2966.535883992208, + 2005.9288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2963.9378077808547, + 2004.4288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2961.3397315695015, + 2002.9288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2958.7416553581484, + 2001.4288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2956.143579146795, + 1999.9288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2953.545502935442, + 1998.4288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2950.947426724089, + 1996.9288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2948.349350512736, + 1995.4288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2945.7512743013826, + 1993.9288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2943.1531980900295, + 1992.4288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2940.5551218786763, + 1990.9288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2937.957045667323, + 1989.4288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2935.35896945597, + 1987.9288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2932.760893244617, + 1986.4288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2930.1628170332638, + 1984.9288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2927.5647408219106, + 1983.4288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2924.9666646105575, + 1981.9288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2922.3685883992043, + 1980.4288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2919.770512187851, + 1978.9288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2917.172435976498, + 1977.4288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2914.574359765145, + 1975.9288372832204, + 69.16479855542727 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2914.574359765145, + 1975.9288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2911.574359765145, + 1975.9288372832204, + 69.16479855542727 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2908.574359765145, + 1975.9288372832204, + 69.16479855542727 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2868.0, + 1956.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-11-26_1239547247/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-11-26_1239547247/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e56183951801dd6fbe0aa6cbc63fc78f952a2e24 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-11-26_1239547247/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2366.3585685364073, + -476.00719368634714, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2369.3585685364073, + -476.00719368634714, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2372.3585685364073, + -476.00719368634714, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2375.3585685364073, + -476.00719368634714, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2378.3585685364073, + -476.00719368634714, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2381.3585685364073, + -476.00719368634714, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2384.3585685364073, + -476.00719368634714, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2387.3585685364073, + -476.00719368634714, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2390.3585685364073, + -476.00719368634714, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2393.3585685364073, + -476.00719368634714, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2396.3585685364073, + -476.00719368634714, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2399.3585685364073, + -476.00719368634714, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2402.3585685364073, + -476.00719368634714, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2405.3585685364073, + -476.00719368634714, + 54.50109824556823 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2405.3585685364073, + -476.00719368634714, + 54.50109824556823 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2405.3585685364073, + -476.00719368634714, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2406.8585685364073, + -478.60526989770045, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2408.3585685364073, + -481.20334610905377, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2409.8585685364073, + -483.8014223204071, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2411.3585685364073, + -486.3994985317604, + 54.50109824556823 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2411.3585685364073, + -486.3994985317604, + 54.50109824556823 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2411.3585685364073, + -486.3994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2414.3585685364073, + -486.3994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2417.3585685364073, + -486.3994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2420.3585685364073, + -486.3994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2423.3585685364073, + -486.3994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2426.3585685364073, + -486.3994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2429.3585685364073, + -486.3994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2432.3585685364073, + -486.3994985317604, + 54.50109824556823 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2432.3585685364073, + -486.3994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2434.9566447477605, + -484.8994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2437.5547209591136, + -483.3994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2440.152797170467, + -481.8994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2442.75087338182, + -480.3994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2445.348949593173, + -478.8994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2447.947025804526, + -477.3994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2450.5451020158794, + -475.8994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2453.1431782272325, + -474.3994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2455.7412544385857, + -472.8994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2458.339330649939, + -471.3994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2460.937406861292, + -469.8994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2463.535483072645, + -468.3994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2466.1335592839982, + -466.8994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2468.7316354953514, + -465.3994985317604, + 54.50109824556823 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 2471.3297117067045, + -463.8994985317604, + 54.50109824556823 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2508.0, + -456.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-12-8_1424771149/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-12-8_1424771149/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..060e366d084989888cd1376f4d5b4eb97860687f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-12-8_1424771149/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1618.857780756923, + -498.323188651069, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1617.357780756923, + -500.92126486242233, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1615.857780756923, + -503.51934107377565, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1614.357780756923, + -506.11741728512897, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1612.857780756923, + -508.7154934964823, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1611.357780756923, + -511.3135697078356, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1609.857780756923, + -513.9116459191889, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1608.357780756923, + -516.5097221305423, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1606.857780756923, + -519.1077983418957, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1605.357780756923, + -521.705874553249, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1603.857780756923, + -524.3039507646024, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1602.357780756923, + -526.9020269759558, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1600.857780756923, + -529.5001031873092, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1599.357780756923, + -532.0981793986625, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1597.857780756923, + -534.6962556100159, + 67.27232115892149 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1597.857780756923, + -534.6962556100159, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1595.2597045455695, + -536.1962556100159, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1592.6616283342162, + -537.6962556100159, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1590.0635521228628, + -539.1962556100159, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1587.4654759115094, + -540.6962556100159, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1584.867399700156, + -542.1962556100159, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1582.2693234888027, + -543.6962556100159, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1579.6712472774493, + -545.1962556100159, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1577.073171066096, + -546.6962556100159, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1574.4750948547426, + -548.1962556100159, + 67.27232115892149 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1574.4750948547426, + -548.1962556100159, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1572.9750948547426, + -550.7943318213693, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1571.4750948547426, + -553.3924080327226, + 67.27232115892149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1569.9750948547426, + -555.990484244076, + 67.27232115892149 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1552.0, + -580.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-14-5_1072628238/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-14-5_1072628238/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a93f927a9dc2412d7b31761dc474be4adf340b3d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-14-5_1072628238/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 276.93899589356056, + -299.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 273.93899589356056, + -299.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 270.93899589356056, + -299.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 267.93899589356056, + -299.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 264.93899589356056, + -299.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 261.93899589356056, + -299.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 258.93899589356056, + -299.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 255.93899589356056, + -299.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 252.93899589356056, + -299.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 249.93899589356056, + -299.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 246.93899589356056, + -299.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 243.93899589356056, + -299.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 240.93899589356056, + -299.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 237.93899589356056, + -299.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 234.93899589356056, + -299.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 231.93899589356056, + -299.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 228.93899589356056, + -299.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 225.93899589356056, + -299.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 222.93899589356056, + -299.90648107930355, + 68.026737942475 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 222.93899589356056, + -299.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 220.34091968220724, + -298.40648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 217.74284347085393, + -296.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 215.1447672595006, + -295.40648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 212.5466910481473, + -293.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 209.94861483679398, + -292.40648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 207.35053862544066, + -290.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 204.75246241408735, + -289.40648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 202.15438620273403, + -287.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 199.55630999138072, + -286.40648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 196.9582337800274, + -284.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 194.36015756867408, + -283.40648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 191.76208135732077, + -281.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 189.16400514596745, + -280.40648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 186.56592893461413, + -278.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 183.96785272326082, + -277.40648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 181.3697765119075, + -275.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 178.7717003005542, + -274.40648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 176.17362408920087, + -272.90648107930355, + 68.026737942475 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 173.57554787784755, + -271.40648107930355, + 68.026737942475 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 136.0, + -264.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-18-13_1246447757/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-18-13_1246447757/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3949744d125f1fd4730bd2d3f8769b52293c74d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-18-13_1246447757/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 937.8432236621642, + -415.54873670943186, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 939.3432236621642, + -412.95066049807855, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 940.8432236621642, + -410.35258428672523, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 942.3432236621642, + -407.7545080753719, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 943.8432236621642, + -405.1564318640186, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 945.3432236621642, + -402.5583556526653, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 946.8432236621642, + -399.96027944131197, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 948.3432236621642, + -397.36220322995865, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 949.8432236621642, + -394.76412701860534, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 951.3432236621642, + -392.166050807252, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 952.8432236621642, + -389.5679745958987, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 954.3432236621642, + -386.9698983845454, + 58.576837986521696 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 954.3432236621642, + -386.9698983845454, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 956.9412998735174, + -385.4698983845454, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 959.5393760848708, + -383.9698983845454, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 962.1374522962242, + -382.4698983845454, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 964.7355285075776, + -380.9698983845454, + 58.576837986521696 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 964.7355285075776, + -380.9698983845454, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 966.2355285075776, + -378.3718221731921, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 967.7355285075776, + -375.77374596183876, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 969.2355285075776, + -373.17566975048544, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 970.7355285075776, + -370.5775935391321, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 972.2355285075776, + -367.9795173277788, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 973.7355285075776, + -365.3814411164255, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 975.2355285075776, + -362.7833649050722, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 976.7355285075776, + -360.18528869371886, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 978.2355285075776, + -357.58721248236554, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 979.7355285075776, + -354.9891362710122, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 981.2355285075776, + -352.3910600596589, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 982.7355285075776, + -349.7929838483056, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 984.2355285075776, + -347.1949076369523, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 985.7355285075776, + -344.59683142559896, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 987.2355285075776, + -341.99875521424565, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 988.7355285075776, + -339.40067900289233, + 58.576837986521696 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 988.7355285075776, + -339.40067900289233, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 988.7355285075776, + -336.40067900289233, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 988.7355285075776, + -333.40067900289233, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 988.7355285075776, + -330.40067900289233, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 988.7355285075776, + -327.40067900289233, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 988.7355285075776, + -324.40067900289233, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 988.7355285075776, + -321.40067900289233, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 988.7355285075776, + -318.40067900289233, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 988.7355285075776, + -315.40067900289233, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 988.7355285075776, + -312.40067900289233, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 988.7355285075776, + -309.40067900289233, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 988.7355285075776, + -306.40067900289233, + 58.576837986521696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 988.7355285075776, + -303.40067900289233, + 58.576837986521696 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 996.0, + -284.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-2-8_475777610/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-2-8_475777610/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..772ce3df4f48edf10eb26bf10ac471442080f0eb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-2-8_475777610/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2631.0430581089117, + 707.4081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2633.641134320265, + 705.9081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2636.239210531618, + 704.4081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2638.837286742971, + 702.9081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2641.4353629543243, + 701.4081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2644.0334391656775, + 699.9081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2646.6315153770306, + 698.4081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2649.2295915883838, + 696.9081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2651.827667799737, + 695.4081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2654.42574401109, + 693.9081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2657.023820222443, + 692.4081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2659.6218964337963, + 690.9081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2662.2199726451495, + 689.4081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2664.8180488565026, + 687.9081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2667.416125067856, + 686.4081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2670.014201279209, + 684.9081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2672.612277490562, + 683.4081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2675.210353701915, + 681.9081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2677.8084299132684, + 680.4081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2680.4065061246215, + 678.9081145739239, + 62.04467064799265 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2680.4065061246215, + 678.9081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2683.4065061246215, + 678.9081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2686.4065061246215, + 678.9081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2689.4065061246215, + 678.9081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2692.4065061246215, + 678.9081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2695.4065061246215, + 678.9081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2698.4065061246215, + 678.9081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2701.4065061246215, + 678.9081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2704.4065061246215, + 678.9081145739239, + 62.04467064799265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2707.4065061246215, + 678.9081145739239, + 62.04467064799265 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2768.0, + 656.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-20-19_880944650/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-20-19_880944650/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0387c985577017bd161503980d97588554500ec --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-20-19_880944650/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1548.5257445335196, + -208.26022822263013, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1547.0257445335196, + -210.85830443398345, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1545.5257445335196, + -213.45638064533676, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1544.0257445335196, + -216.05445685669008, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1542.5257445335196, + -218.6525330680434, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1541.0257445335196, + -221.2506092793967, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1539.5257445335196, + -223.84868549075003, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1538.0257445335196, + -226.44676170210334, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1536.5257445335196, + -229.04483791345666, + 52.26920702811604 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1536.5257445335196, + -229.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1536.5257445335196, + -232.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1536.5257445335196, + -235.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1536.5257445335196, + -238.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1536.5257445335196, + -241.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1536.5257445335196, + -244.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1536.5257445335196, + -247.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1536.5257445335196, + -250.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1536.5257445335196, + -253.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1536.5257445335196, + -256.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1536.5257445335196, + -259.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1536.5257445335196, + -262.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1536.5257445335196, + -265.04483791345666, + 52.26920702811604 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1536.5257445335196, + -265.04483791345666, + 52.26920702811604 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1536.5257445335196, + -265.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1533.9276683221663, + -266.54483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1531.3295921108129, + -268.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1528.7315158994595, + -269.54483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1526.1334396881061, + -271.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1523.5353634767528, + -272.54483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1520.9372872653994, + -274.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1518.339211054046, + -275.54483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1515.7411348426926, + -277.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1513.1430586313393, + -278.54483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1510.544982419986, + -280.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1507.9469062086325, + -281.54483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1505.3488299972792, + -283.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1502.7507537859258, + -284.54483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1500.1526775745724, + -286.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1497.554601363219, + -287.54483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1494.9565251518657, + -289.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1492.3584489405123, + -290.54483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1489.760372729159, + -292.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1487.1622965178055, + -293.54483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1484.5642203064522, + -295.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1481.9661440950988, + -296.54483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1479.3680678837454, + -298.04483791345666, + 52.26920702811604 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1479.3680678837454, + -298.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1476.3680678837454, + -298.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1473.3680678837454, + -298.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1470.3680678837454, + -298.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1467.3680678837454, + -298.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1464.3680678837454, + -298.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1461.3680678837454, + -298.04483791345666, + 52.26920702811604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1458.3680678837454, + -298.04483791345666, + 52.26920702811604 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1444.0, + -312.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-21-29_115133608/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-21-29_115133608/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..afbe3f0de5132fbe76e5c53dd21f27429b68a12f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-21-29_115133608/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1934.5199057561158, + -2965.1600329482253, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1937.5199057561158, + -2965.1600329482253, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1940.5199057561158, + -2965.1600329482253, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1943.5199057561158, + -2965.1600329482253, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1946.5199057561158, + -2965.1600329482253, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1949.5199057561158, + -2965.1600329482253, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1952.5199057561158, + -2965.1600329482253, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1955.5199057561158, + -2965.1600329482253, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1958.5199057561158, + -2965.1600329482253, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1961.5199057561158, + -2965.1600329482253, + 56.63117879956779 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1961.5199057561158, + -2965.1600329482253, + 56.63117879956779 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1961.5199057561158, + -2965.1600329482253, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1963.0199057561158, + -2962.561956736872, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1964.5199057561158, + -2959.963880525519, + 56.63117879956779 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1964.5199057561158, + -2959.963880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982706 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1967.1179819674692, + -2958.463880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1969.7160581788225, + -2956.963880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1972.314134390176, + -2955.463880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1974.9122106015293, + -2953.963880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1977.5102868128827, + -2952.463880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1980.108363024236, + -2950.963880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1982.7064392355894, + -2949.463880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1985.3045154469428, + -2947.963880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1987.9025916582962, + -2946.463880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1990.5006678696495, + -2944.963880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1993.098744081003, + -2943.463880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1995.6968202923563, + -2941.963880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1998.2948965037097, + -2940.463880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2000.892972715063, + -2938.963880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2003.4910489264164, + -2937.463880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2006.0891251377698, + -2935.963880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2008.6872013491231, + -2934.463880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2011.2852775604765, + -2932.963880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2013.88335377183, + -2931.463880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2016.4814299831833, + -2929.963880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2019.0795061945366, + -2928.463880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2021.67758240589, + -2926.963880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2024.2756586172434, + -2925.463880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2026.8737348285968, + -2923.963880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2029.4718110399501, + -2922.463880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2032.0698872513035, + -2920.963880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2034.6679634626569, + -2919.463880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 2037.2660396740102, + -2917.963880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 2039.8641158853636, + -2916.463880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 2042.462192096717, + -2914.963880525519, + 56.63117879956779 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 2045.0602683080704, + -2913.463880525519, + 56.63117879956779 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2068.0, + -2900.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-22-38_191520958/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-22-38_191520958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2513a7ff0a151d811f6ac5b6c696cd9df40b19e1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-22-38_191520958/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 956.065690988585, + -1697.5548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 959.065690988585, + -1697.5548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 962.065690988585, + -1697.5548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 965.065690988585, + -1697.5548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 968.065690988585, + -1697.5548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 971.065690988585, + -1697.5548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 974.065690988585, + -1697.5548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 977.065690988585, + -1697.5548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 980.065690988585, + -1697.5548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 983.065690988585, + -1697.5548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 986.065690988585, + -1697.5548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 989.065690988585, + -1697.5548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 992.065690988585, + -1697.5548034521985, + 58.54173286054032 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 992.065690988585, + -1697.5548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 994.6637671999383, + -1696.0548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 997.2618434112917, + -1694.5548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 999.8599196226451, + -1693.0548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1002.4579958339984, + -1691.5548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1005.0560720453518, + -1690.0548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1007.6541482567052, + -1688.5548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1010.2522244680586, + -1687.0548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1012.8503006794119, + -1685.5548034521985, + 58.54173286054032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1015.4483768907653, + -1684.0548034521985, + 58.54173286054032 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1080.0, + -1668.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-22-54_542090057/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-22-54_542090057/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..21a0a96ae444fe8726fb77dfe0998503e4da1a38 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-22-54_542090057/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2715.6069758853882, + -1052.467787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2718.2050520967414, + -1050.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2720.8031283080945, + -1049.467787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2723.4012045194477, + -1047.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2725.999280730801, + -1046.467787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2728.597356942154, + -1044.967787470749, + 56.35569357108192 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2728.597356942154, + -1044.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2731.597356942154, + -1044.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2734.597356942154, + -1044.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2737.597356942154, + -1044.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2740.597356942154, + -1044.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2743.597356942154, + -1044.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2746.597356942154, + -1044.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2749.597356942154, + -1044.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2752.597356942154, + -1044.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2755.597356942154, + -1044.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2758.597356942154, + -1044.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2761.597356942154, + -1044.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2764.597356942154, + -1044.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2767.597356942154, + -1044.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2770.597356942154, + -1044.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2773.597356942154, + -1044.967787470749, + 56.35569357108192 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2773.597356942154, + -1044.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2776.195433153507, + -1043.467787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2778.7935093648603, + -1041.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2781.3915855762134, + -1040.467787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2783.9896617875665, + -1038.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2786.5877379989197, + -1037.467787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2789.185814210273, + -1035.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2791.783890421626, + -1034.467787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2794.381966632979, + -1032.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2796.9800428443323, + -1031.467787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2799.5781190556854, + -1029.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2802.1761952670386, + -1028.467787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2804.7742714783917, + -1026.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2807.372347689745, + -1025.467787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2809.970423901098, + -1023.967787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2812.568500112451, + -1022.467787470749, + 56.35569357108192 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2815.1665763238043, + -1020.967787470749, + 56.35569357108192 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2844.0, + -1012.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-23-46_1662919361/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-23-46_1662919361/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e338a6d08ce33a27deaa8fe9fc620a76c7dda6d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-23-46_1662919361/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -737.5260437390033, + -2883.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -737.5260437390033, + -2886.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -737.5260437390033, + -2889.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -737.5260437390033, + -2892.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -737.5260437390033, + -2895.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -737.5260437390033, + -2898.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -737.5260437390033, + -2901.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -737.5260437390033, + -2904.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -737.5260437390033, + -2907.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -737.5260437390033, + -2910.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -737.5260437390033, + -2913.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -737.5260437390033, + -2916.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -737.5260437390033, + -2919.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -737.5260437390033, + -2922.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -737.5260437390033, + -2925.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -737.5260437390033, + -2928.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -737.5260437390033, + -2931.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -737.5260437390033, + -2934.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -737.5260437390033, + -2937.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -737.5260437390033, + -2940.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -737.5260437390033, + -2943.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -737.5260437390033, + -2946.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -737.5260437390033, + -2949.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -737.5260437390033, + -2952.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -737.5260437390033, + -2955.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -737.5260437390033, + -2958.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -737.5260437390033, + -2961.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -737.5260437390033, + -2964.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -737.5260437390033, + -2967.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -737.5260437390033, + -2970.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -737.5260437390033, + -2973.013678057575, + 44.403788642109674 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -737.5260437390033, + -2973.013678057575, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -736.0260437390033, + -2975.611754268928, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -734.5260437390033, + -2978.209830480281, + 44.403788642109674 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -733.0260437390033, + -2980.8079066916343, + 44.403788642109674 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -732.0, + -2996.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-24-5_1614718295/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-24-5_1614718295/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1be81e286846f3b9979eab5a6aaa59ea4d154400 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-24-5_1614718295/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3000.78684886147, + 1604.2269505504933, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3002.28684886147, + 1606.8250267618466, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3003.78684886147, + 1609.4231029732, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3005.28684886147, + 1612.0211791845534, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3006.78684886147, + 1614.6192553959067, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3008.28684886147, + 1617.2173316072601, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3009.78684886147, + 1619.8154078186135, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3011.28684886147, + 1622.4134840299669, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3012.78684886147, + 1625.0115602413202, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3014.28684886147, + 1627.6096364526736, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3015.78684886147, + 1630.207712664027, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3017.28684886147, + 1632.8057888753804, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3018.78684886147, + 1635.4038650867337, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3020.28684886147, + 1638.001941298087, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3021.78684886147, + 1640.6000175094405, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3023.28684886147, + 1643.1980937207938, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3024.78684886147, + 1645.7961699321472, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3026.28684886147, + 1648.3942461435006, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3027.78684886147, + 1650.992322354854, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3029.28684886147, + 1653.5903985662073, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3030.78684886147, + 1656.1884747775607, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3032.28684886147, + 1658.786550988914, + 56.25920611261583 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3032.28684886147, + 1658.786550988914, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3034.884925072823, + 1660.286550988914, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3037.483001284176, + 1661.786550988914, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3040.0810774955294, + 1663.286550988914, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3042.6791537068825, + 1664.786550988914, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3045.2772299182357, + 1666.286550988914, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3047.875306129589, + 1667.786550988914, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3050.473382340942, + 1669.286550988914, + 56.25920611261583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3053.071458552295, + 1670.786550988914, + 56.25920611261583 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3080.0, + 1704.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-25-20_524897797/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-25-20_524897797/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63cf3b34277061aa6567f95c6a695877aa309364 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-25-20_524897797/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2412.029448253594, + -2742.2434681686445, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2412.029448253594, + -2745.2434681686445, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2412.029448253594, + -2748.2434681686445, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2412.029448253594, + -2751.2434681686445, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2412.029448253594, + -2754.2434681686445, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2412.029448253594, + -2757.2434681686445, + 45.29792450012008 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2412.029448253594, + -2757.2434681686445, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2413.529448253594, + -2759.8415443799977, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2415.029448253594, + -2762.439620591351, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2416.529448253594, + -2765.037696802704, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2418.029448253594, + -2767.635773014057, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2419.529448253594, + -2770.2338492254103, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2421.029448253594, + -2772.8319254367634, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2422.529448253594, + -2775.4300016481166, + 45.29792450012008 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2422.529448253594, + -2775.4300016481166, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2422.529448253594, + -2778.4300016481166, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2422.529448253594, + -2781.4300016481166, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2422.529448253594, + -2784.4300016481166, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2422.529448253594, + -2787.4300016481166, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2422.529448253594, + -2790.4300016481166, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2422.529448253594, + -2793.4300016481166, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2422.529448253594, + -2796.4300016481166, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2422.529448253594, + -2799.4300016481166, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2422.529448253594, + -2802.4300016481166, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2422.529448253594, + -2805.4300016481166, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2422.529448253594, + -2808.4300016481166, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2422.529448253594, + -2811.4300016481166, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2422.529448253594, + -2814.4300016481166, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2422.529448253594, + -2817.4300016481166, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2422.529448253594, + -2820.4300016481166, + 45.29792450012008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2422.529448253594, + -2823.4300016481166, + 45.29792450012008 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2424.0, + -2844.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-27-3_659347223/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-27-3_659347223/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bade10038b6249987caca93a7837dd89a67adafb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-27-3_659347223/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3554.050276647087, + -287.041521247814, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3556.64835285844, + -288.541521247814, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3559.246429069793, + -290.041521247814, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3561.844505281146, + -291.541521247814, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3564.4425814924994, + -293.041521247814, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3567.0406577038525, + -294.541521247814, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3569.6387339152056, + -296.041521247814, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3572.236810126559, + -297.541521247814, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3574.834886337912, + -299.041521247814, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3577.432962549265, + -300.541521247814, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3580.0310387606182, + -302.041521247814, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3582.6291149719714, + -303.541521247814, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3585.2271911833245, + -305.041521247814, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3587.8252673946777, + -306.541521247814, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3590.423343606031, + -308.041521247814, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3593.021419817384, + -309.541521247814, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3595.619496028737, + -311.041521247814, + 53.255188587487545 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3595.619496028737, + -311.041521247814, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3597.119496028737, + -313.6395974591673, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3598.619496028737, + -316.2376736705206, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3600.119496028737, + -318.83574988187394, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3601.619496028737, + -321.43382609322725, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3603.119496028737, + -324.03190230458057, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3604.619496028737, + -326.6299785159339, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3606.119496028737, + -329.2280547272872, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3607.619496028737, + -331.8261309386405, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3609.119496028737, + -334.42420714999383, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3610.619496028737, + -337.02228336134715, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3612.119496028737, + -339.62035957270047, + 53.255188587487545 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3612.119496028737, + -339.62035957270047, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3614.7175722400902, + -341.12035957270047, + 53.255188587487545 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3617.3156484514434, + -342.62035957270047, + 53.255188587487545 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3644.0, + -364.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-34-1_1971343899/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-34-1_1971343899/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58971227f62fcb60a20188229eb9b5171507b7eb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-34-1_1971343899/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2180.0831372597504, + -763.372510987904, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2177.4850610483973, + -761.872510987904, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2174.886984837044, + -760.372510987904, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2172.288908625691, + -758.872510987904, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2169.690832414338, + -757.372510987904, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2167.0927562029847, + -755.872510987904, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2164.4946799916315, + -754.372510987904, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2161.8966037802784, + -752.872510987904, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2159.2985275689252, + -751.372510987904, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2156.700451357572, + -749.872510987904, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2154.102375146219, + -748.372510987904, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2151.504298934866, + -746.872510987904, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2148.9062227235127, + -745.372510987904, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2146.3081465121595, + -743.872510987904, + 69.00953453475731 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2146.3081465121595, + -743.872510987904, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2144.8081465121595, + -741.2744347765506, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2143.3081465121595, + -738.6763585651972, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2141.8081465121595, + -736.0782823538439, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2140.3081465121595, + -733.4802061424905, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2138.8081465121595, + -730.8821299311371, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2137.3081465121595, + -728.2840537197837, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2135.8081465121595, + -725.6859775084304, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2134.3081465121595, + -723.087901297077, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2132.8081465121595, + -720.4898250857236, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2131.3081465121595, + -717.8917488743703, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2129.8081465121595, + -715.2936726630169, + 69.00953453475731 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2129.8081465121595, + -715.2936726630169, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2127.2100703008064, + -713.7936726630169, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2124.611994089453, + -712.2936726630169, + 69.00953453475731 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2122.0139178781, + -710.7936726630169, + 69.00953453475731 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2096.0, + -688.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-34-21_726277479/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-34-21_726277479/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4976a5086d9409017b509b580225feff5dc13b10 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-34-21_726277479/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3779.3311526453294, + -2221.5771937195905, + 43.24436558134773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3779.3311526453294, + -2224.5771937195905, + 43.24436558134773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3779.3311526453294, + -2227.5771937195905, + 43.24436558134773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3779.3311526453294, + -2230.5771937195905, + 43.24436558134773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3779.3311526453294, + -2233.5771937195905, + 43.24436558134773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3779.3311526453294, + -2236.5771937195905, + 43.24436558134773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3779.3311526453294, + -2239.5771937195905, + 43.24436558134773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3779.3311526453294, + -2242.5771937195905, + 43.24436558134773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3779.3311526453294, + -2245.5771937195905, + 43.24436558134773 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3768.0, + -2332.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-37-53_1722844083/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-37-53_1722844083/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5eefddde9f872137de78c929f60c10d11eb4bee4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-37-53_1722844083/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2309.2478142105565, + -2297.7427054987284, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2310.7478142105565, + -2300.3407817100815, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2312.2478142105565, + -2302.9388579214346, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2313.7478142105565, + -2305.536934132788, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2315.2478142105565, + -2308.135010344141, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2316.7478142105565, + -2310.733086555494, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2318.2478142105565, + -2313.3311627668472, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2319.7478142105565, + -2315.9292389782004, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2321.2478142105565, + -2318.5273151895535, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2322.7478142105565, + -2321.1253914009067, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2324.2478142105565, + -2323.72346761226, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2325.7478142105565, + -2326.321543823613, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2327.2478142105565, + -2328.919620034966, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2328.7478142105565, + -2331.5176962463192, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2330.2478142105565, + -2334.1157724576724, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2331.7478142105565, + -2336.7138486690255, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2333.2478142105565, + -2339.3119248803787, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2334.7478142105565, + -2341.910001091732, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2336.2478142105565, + -2344.508077303085, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2337.7478142105565, + -2347.106153514438, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2339.2478142105565, + -2349.7042297257913, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2340.7478142105565, + -2352.3023059371444, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2342.2478142105565, + -2354.9003821484976, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2343.7478142105565, + -2357.4984583598507, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2345.2478142105565, + -2360.096534571204, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2346.7478142105565, + -2362.694610782557, + 59.02124667186402 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2346.7478142105565, + -2362.694610782557, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2346.7478142105565, + -2365.694610782557, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2346.7478142105565, + -2368.694610782557, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2346.7478142105565, + -2371.694610782557, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2346.7478142105565, + -2374.694610782557, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2346.7478142105565, + -2377.694610782557, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2346.7478142105565, + -2380.694610782557, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2346.7478142105565, + -2383.694610782557, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2346.7478142105565, + -2386.694610782557, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2346.7478142105565, + -2389.694610782557, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2346.7478142105565, + -2392.694610782557, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2346.7478142105565, + -2395.694610782557, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2346.7478142105565, + -2398.694610782557, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2346.7478142105565, + -2401.694610782557, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2346.7478142105565, + -2404.694610782557, + 59.02124667186402 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2346.7478142105565, + -2407.694610782557, + 59.02124667186402 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2352.0, + -2420.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-4-7_1954515802/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-4-7_1954515802/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..71d5a1c79b2bacb058496733b992e406954c2988 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-4-7_1954515802/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3990.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3987.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3984.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3981.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3978.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3975.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3972.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3969.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3966.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3963.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3960.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3957.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3954.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3951.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3948.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3945.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3942.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3939.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3936.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3933.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3930.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3927.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3924.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3921.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3918.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3915.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3912.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3909.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3906.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3903.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3900.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3897.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3894.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3891.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3888.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3885.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3885.024928087617, + 376.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3882.4268518762638, + 377.5775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3879.8287756649106, + 379.0775166396453, + 48.18822399810926 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3877.2306994535575, + 380.5775166396453, + 48.18822399810926 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3852.0, + 384.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-43-57_2080779600/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-43-57_2080779600/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87294e74169e8c8d4f03d76ba7bc6597c70d12ec --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-43-57_2080779600/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1357.8148164590375, + -1876.8986770095632, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1356.3148164590375, + -1879.4967532209166, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1354.8148164590375, + -1882.09482943227, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1353.3148164590375, + -1884.6929056436234, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1351.8148164590375, + -1887.2909818549767, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1350.3148164590375, + -1889.88905806633, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1348.8148164590375, + -1892.4871342776835, + 61.35013788906558 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1348.8148164590375, + -1892.4871342776835, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1348.8148164590375, + -1895.4871342776835, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1348.8148164590375, + -1898.4871342776835, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1348.8148164590375, + -1901.4871342776835, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1348.8148164590375, + -1904.4871342776835, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1348.8148164590375, + -1907.4871342776835, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1348.8148164590375, + -1910.4871342776835, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1348.8148164590375, + -1913.4871342776835, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1348.8148164590375, + -1916.4871342776835, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1348.8148164590375, + -1919.4871342776835, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1348.8148164590375, + -1922.4871342776835, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1348.8148164590375, + -1925.4871342776835, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1348.8148164590375, + -1928.4871342776835, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1348.8148164590375, + -1931.4871342776835, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1348.8148164590375, + -1934.4871342776835, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1348.8148164590375, + -1937.4871342776835, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1348.8148164590375, + -1940.4871342776835, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1348.8148164590375, + -1943.4871342776835, + 61.35013788906558 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1348.8148164590375, + -1943.4871342776835, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1347.3148164590375, + -1946.0852104890369, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1345.8148164590375, + -1948.6832867003902, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1344.3148164590375, + -1951.2813629117436, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1342.8148164590375, + -1953.879439123097, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1341.3148164590375, + -1956.4775153344503, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1339.8148164590375, + -1959.0755915458037, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1338.3148164590375, + -1961.673667757157, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1336.8148164590375, + -1964.2717439685105, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1335.3148164590375, + -1966.8698201798638, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1333.8148164590375, + -1969.4678963912172, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1332.3148164590375, + -1972.0659726025706, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1330.8148164590375, + -1974.664048813924, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1329.3148164590375, + -1977.2621250252773, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1327.8148164590375, + -1979.8602012366307, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1326.3148164590375, + -1982.458277447984, + 61.35013788906558 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1324.8148164590375, + -1985.0563536593374, + 61.35013788906558 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1320.0, + -2008.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-48-22_1096079422/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-48-22_1096079422/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15583b48de0a0f62763d97c0c71324080beeb5be --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-48-22_1096079422/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1965.174765333474, + 2244.2888334677646, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1963.674765333474, + 2246.8869096791177, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1962.174765333474, + 2249.484985890471, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1960.674765333474, + 2252.083062101824, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1959.174765333474, + 2254.681138313177, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1957.674765333474, + 2257.2792145245303, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1956.174765333474, + 2259.8772907358834, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1954.674765333474, + 2262.4753669472366, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1953.174765333474, + 2265.0734431585897, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1951.674765333474, + 2267.671519369943, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1950.174765333474, + 2270.269595581296, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1948.674765333474, + 2272.867671792649, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1947.174765333474, + 2275.4657480040023, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1945.674765333474, + 2278.0638242153555, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1944.174765333474, + 2280.6619004267086, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1942.674765333474, + 2283.2599766380617, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1941.174765333474, + 2285.858052849415, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1939.674765333474, + 2288.456129060768, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1938.174765333474, + 2291.054205272121, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1936.674765333474, + 2293.6522814834743, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1935.174765333474, + 2296.2503576948275, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1933.674765333474, + 2298.8484339061806, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1932.174765333474, + 2301.4465101175338, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1930.674765333474, + 2304.044586328887, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1929.174765333474, + 2306.64266254024, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1927.674765333474, + 2309.240738751593, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1926.174765333474, + 2311.8388149629463, + 40.0138016069344 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1926.174765333474, + 2311.8388149629463, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1923.5766891221206, + 2313.3388149629463, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1920.9786129107672, + 2314.8388149629463, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1918.3805366994138, + 2316.3388149629463, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1915.7824604880605, + 2317.8388149629463, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1913.184384276707, + 2319.3388149629463, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1910.5863080653537, + 2320.8388149629463, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1907.9882318540003, + 2322.3388149629463, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1905.390155642647, + 2323.8388149629463, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1902.7920794312936, + 2325.3388149629463, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1900.1940032199402, + 2326.8388149629463, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1897.5959270085868, + 2328.3388149629463, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1894.9978507972335, + 2329.8388149629463, + 40.0138016069344 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1892.39977458588, + 2331.3388149629463, + 40.0138016069344 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1872.0, + 2356.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-49-45_1084040881/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-49-45_1084040881/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4d552af963918e3a66250e2d2ab2fb11c9c443d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-49-45_1084040881/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3557.577201857549, + -504.80912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3554.979125646196, + -503.30912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3552.3810494348427, + -501.80912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3549.7829732234895, + -500.30912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3547.1848970121364, + -498.80912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3544.5868208007832, + -497.30912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3541.98874458943, + -495.80912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3539.390668378077, + -494.30912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3536.792592166724, + -492.80912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3534.1945159553707, + -491.30912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3531.5964397440175, + -489.80912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3528.9983635326644, + -488.30912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3526.400287321311, + -486.80912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3523.802211109958, + -485.30912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3521.204134898605, + -483.80912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3518.606058687252, + -482.30912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3516.0079824758986, + -480.80912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3513.4099062645455, + -479.30912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3510.8118300531924, + -477.80912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3508.213753841839, + -476.30912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3505.615677630486, + -474.80912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3503.017601419133, + -473.30912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3500.4195252077798, + -471.80912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3497.8214489964266, + -470.30912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3495.2233727850735, + -468.80912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3492.6252965737203, + -467.30912190898, + 49.95325026502124 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3490.027220362367, + -465.80912190898, + 49.95325026502124 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3448.0, + -440.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-51-14_1753732836/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-51-14_1753732836/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f598e98880c9c8277a8995cc85b1917a6fc27b1b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-51-14_1753732836/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3513.409156774014, + 855.5931936222377, + 63.6417447781717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3510.8110805626607, + 854.0931936222377, + 63.6417447781717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3508.2130043513075, + 852.5931936222377, + 63.6417447781717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3505.6149281399544, + 851.0931936222377, + 63.6417447781717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3503.016851928601, + 849.5931936222377, + 63.6417447781717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3500.418775717248, + 848.0931936222377, + 63.6417447781717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3497.820699505895, + 846.5931936222377, + 63.6417447781717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3495.222623294542, + 845.0931936222377, + 63.6417447781717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3492.6245470831886, + 843.5931936222377, + 63.6417447781717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3490.0264708718355, + 842.0931936222377, + 63.6417447781717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3487.4283946604824, + 840.5931936222377, + 63.6417447781717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3484.830318449129, + 839.0931936222377, + 63.6417447781717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3482.232242237776, + 837.5931936222377, + 63.6417447781717 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3479.634166026423, + 836.0931936222377, + 63.6417447781717 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3479.634166026423, + 836.0931936222377, + 63.6417447781717 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3476.634166026423, + 836.0931936222377, + 63.6417447781717 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3473.634166026423, + 836.0931936222377, + 63.6417447781717 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3470.634166026423, + 836.0931936222377, + 63.6417447781717 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3467.634166026423, + 836.0931936222377, + 63.6417447781717 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3464.634166026423, + 836.0931936222377, + 63.6417447781717 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3461.634166026423, + 836.0931936222377, + 63.6417447781717 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3458.634166026423, + 836.0931936222377, + 63.6417447781717 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3384.0, + 808.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-53-48_1690075412/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-53-48_1690075412/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ba7cda7db1a6e16d2f067a41951ca515c7b1b9c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-53-48_1690075412/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1351.821694152099, + 2391.309674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1349.2236179407457, + 2392.809674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1346.6255417293924, + 2394.309674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1344.027465518039, + 2395.809674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1341.4293893066856, + 2397.309674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1338.8313130953322, + 2398.809674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1336.2332368839789, + 2400.309674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1333.6351606726255, + 2401.809674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1331.0370844612721, + 2403.309674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1328.4390082499187, + 2404.809674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1325.8409320385654, + 2406.309674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1323.242855827212, + 2407.809674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1320.6447796158586, + 2409.309674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1318.0467034045053, + 2410.809674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1315.4486271931519, + 2412.309674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1312.8505509817985, + 2413.809674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1310.2524747704451, + 2415.309674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1307.6543985590918, + 2416.809674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1305.0563223477384, + 2418.309674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1302.458246136385, + 2419.809674752506, + 44.47995558868585 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1302.458246136385, + 2419.809674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1299.458246136385, + 2419.809674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1296.458246136385, + 2419.809674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1293.458246136385, + 2419.809674752506, + 44.47995558868585 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1290.458246136385, + 2419.809674752506, + 44.47995558868585 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1220.0, + 2456.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-57-41_1120090212/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-57-41_1120090212/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de4fe648c4037a77ae2cb202cef912f7385bac9f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-57-41_1120090212/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2436.8513152503606, + -2014.155340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2434.2532390390074, + -2012.655340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2431.6551628276543, + -2011.155340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2429.057086616301, + -2009.655340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2426.459010404948, + -2008.155340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2423.860934193595, + -2006.655340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2421.2628579822417, + -2005.155340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2418.6647817708886, + -2003.655340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2416.0667055595354, + -2002.155340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2413.4686293481823, + -2000.655340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2410.870553136829, + -1999.155340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2408.272476925476, + -1997.655340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2405.674400714123, + -1996.155340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2403.0763245027697, + -1994.655340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2400.4782482914165, + -1993.155340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2397.8801720800634, + -1991.655340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2395.2820958687103, + -1990.155340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2392.684019657357, + -1988.655340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2390.085943446004, + -1987.155340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2387.487867234651, + -1985.655340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2384.8897910232977, + -1984.155340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2382.2917148119445, + -1982.655340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2379.6936386005914, + -1981.155340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2377.0955623892382, + -1979.655340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2374.497486177885, + -1978.155340228144, + 64.06480347787286 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2374.497486177885, + -1978.155340228144, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2372.997486177885, + -1975.5572640167907, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2371.497486177885, + -1972.9591878054373, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2369.997486177885, + -1970.361111594084, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2368.497486177885, + -1967.7630353827305, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2366.997486177885, + -1965.1649591713772, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2365.497486177885, + -1962.5668829600238, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2363.997486177885, + -1959.9688067486704, + 64.06480347787286 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2362.497486177885, + -1957.370730537317, + 64.06480347787286 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2348.0, + -1944.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-59-4_1844462197/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-59-4_1844462197/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..efca13da47e5b831a19f4397938c4c5272c4dbc1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-59-4_1844462197/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2559.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2562.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2565.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2568.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2571.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2574.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2577.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2580.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2583.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2586.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2589.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2592.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2595.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2598.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2601.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2604.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2607.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2610.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2613.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2616.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2616.519157011769, + 1906.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2619.117233223122, + 1907.767848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2621.7153094344753, + 1909.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2624.3133856458285, + 1910.767848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2626.9114618571816, + 1912.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2629.5095380685348, + 1913.767848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2632.107614279888, + 1915.267848300773, + 57.19694933557109 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2634.705690491241, + 1916.767848300773, + 57.19694933557109 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2676.0, + 1924.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-9-23_50086034/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-9-23_50086034/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..489f7c15d1f983fc9f36e6a2564eaa00969bd17b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_5-9-23_50086034/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1524.6108391665728, + 684.3827784566737, + 46.64484524857332 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1523.1108391665728, + 681.7847022453204, + 46.64484524857332 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1521.6108391665728, + 679.1866260339671, + 46.64484524857332 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1520.1108391665728, + 676.5885498226137, + 46.64484524857332 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1518.6108391665728, + 673.9904736112603, + 46.64484524857332 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1460.0, + 600.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-10-37_527532074/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-10-37_527532074/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e9dcf825f6323496350dce7d018f3ed7af188be3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-10-37_527532074/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3894.6803525519863, + 2219.461738749873, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3893.1803525519863, + 2222.059814961226, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3891.6803525519863, + 2224.657891172579, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3890.1803525519863, + 2227.2559673839323, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3888.6803525519863, + 2229.8540435952855, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3887.1803525519863, + 2232.4521198066386, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3885.6803525519863, + 2235.0501960179918, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3884.1803525519863, + 2237.648272229345, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3882.6803525519863, + 2240.246348440698, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3881.1803525519863, + 2242.844424652051, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3879.6803525519863, + 2245.4425008634043, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3878.1803525519863, + 2248.0405770747575, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3876.6803525519863, + 2250.6386532861106, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3875.1803525519863, + 2253.236729497464, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3873.6803525519863, + 2255.834805708817, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3872.1803525519863, + 2258.43288192017, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3870.6803525519863, + 2261.030958131523, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3869.1803525519863, + 2263.6290343428764, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3867.6803525519863, + 2266.2271105542295, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3866.1803525519863, + 2268.8251867655827, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3864.6803525519863, + 2271.423262976936, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3863.1803525519863, + 2274.021339188289, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3861.6803525519863, + 2276.619415399642, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3860.1803525519863, + 2279.2174916109952, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3858.6803525519863, + 2281.8155678223484, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3857.1803525519863, + 2284.4136440337015, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3855.6803525519863, + 2287.0117202450547, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3854.1803525519863, + 2289.609796456408, + 66.50018537905778 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3854.1803525519863, + 2289.609796456408, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794925 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3854.1803525519863, + 2292.609796456408, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3854.1803525519863, + 2295.609796456408, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3854.1803525519863, + 2298.609796456408, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3854.1803525519863, + 2301.609796456408, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3854.1803525519863, + 2304.609796456408, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3854.1803525519863, + 2307.609796456408, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3854.1803525519863, + 2310.609796456408, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3854.1803525519863, + 2313.609796456408, + 66.50018537905778 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3854.1803525519863, + 2316.609796456408, + 66.50018537905778 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3844.0, + 2336.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-13-29_127758874/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-13-29_127758874/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8a752d19da15a22ee0b47398bbb25a538138cc16 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-13-29_127758874/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 334.3084588989193, + 1769.590768287412, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 332.8084588989193, + 1772.1888444987653, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 331.3084588989193, + 1774.7869207101187, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 329.8084588989193, + 1777.384996921472, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 328.3084588989193, + 1779.9830731328254, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 326.8084588989193, + 1782.5811493441788, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 325.3084588989193, + 1785.1792255555322, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 323.8084588989193, + 1787.7773017668856, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 322.3084588989193, + 1790.375377978239, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 320.8084588989193, + 1792.9734541895923, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 319.3084588989193, + 1795.5715304009457, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 317.8084588989193, + 1798.169606612299, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 316.3084588989193, + 1800.7676828236524, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 314.8084588989193, + 1803.3657590350058, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 313.3084588989193, + 1805.9638352463592, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 311.8084588989193, + 1808.5619114577125, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 310.3084588989193, + 1811.159987669066, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 308.8084588989193, + 1813.7580638804193, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 307.3084588989193, + 1816.3561400917727, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 305.8084588989193, + 1818.954216303126, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 304.3084588989193, + 1821.5522925144794, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 302.8084588989193, + 1824.1503687258328, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 301.3084588989193, + 1826.7484449371862, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 299.8084588989193, + 1829.3465211485395, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 298.3084588989193, + 1831.944597359893, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 296.8084588989193, + 1834.5426735712463, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 295.3084588989193, + 1837.1407497825996, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 293.8084588989193, + 1839.738825993953, + 41.097518331632934 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 292.3084588989193, + 1842.3369022053064, + 41.097518331632934 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 276.0, + 1876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-13-46_1906423611/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-13-46_1906423611/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c3d61a817b37dfea18a7a34522fb8779653dde80 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-13-46_1906423611/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2126.5137888365807, + -1284.6450467182178, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2128.0137888365807, + -1282.0469705068645, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2129.5137888365807, + -1279.448894295511, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2131.0137888365807, + -1276.8508180841577, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2132.5137888365807, + -1274.2527418728043, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2134.0137888365807, + -1271.654665661451, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2135.5137888365807, + -1269.0565894500976, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2137.0137888365807, + -1266.4585132387442, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2138.5137888365807, + -1263.8604370273908, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2140.0137888365807, + -1261.2623608160375, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2141.5137888365807, + -1258.664284604684, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2143.0137888365807, + -1256.0662083933307, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2144.5137888365807, + -1253.4681321819774, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2146.0137888365807, + -1250.870055970624, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2147.5137888365807, + -1248.2719797592706, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2149.0137888365807, + -1245.6739035479172, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2150.5137888365807, + -1243.0758273365639, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2152.0137888365807, + -1240.4777511252105, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2153.5137888365807, + -1237.8796749138571, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2155.0137888365807, + -1235.2815987025037, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2156.5137888365807, + -1232.6835224911504, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2158.0137888365807, + -1230.085446279797, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2159.5137888365807, + -1227.4873700684436, + 48.37802515399777 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2159.5137888365807, + -1227.4873700684436, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2159.5137888365807, + -1224.4873700684436, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2159.5137888365807, + -1221.4873700684436, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2159.5137888365807, + -1218.4873700684436, + 48.37802515399777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2159.5137888365807, + -1215.4873700684436, + 48.37802515399777 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2184.0, + -1156.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-14-4_1984483445/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-14-4_1984483445/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3bb9dfceb0ef496fab2918eaee0bce7814403b1b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-14-4_1984483445/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2968.7890156190138, + 86.81590116981734, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2970.2890156190138, + 84.21782495846402, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2971.7890156190138, + 81.6197487471107, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2973.2890156190138, + 79.02167253575739, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2974.7890156190138, + 76.42359632440407, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2976.2890156190138, + 73.82552011305076, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2977.7890156190138, + 71.22744390169744, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2979.2890156190138, + 68.62936769034413, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2980.7890156190138, + 66.03129147899081, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2982.2890156190138, + 63.43321526763749, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2983.7890156190138, + 60.83513905628418, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2985.2890156190138, + 58.23706284493086, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2986.7890156190138, + 55.638986633577545, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2988.2890156190138, + 53.04091042222423, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2989.7890156190138, + 50.44283421087091, + 45.37252394081929 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2989.7890156190138, + 50.44283421087091, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2989.7890156190138, + 47.44283421087091, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2989.7890156190138, + 44.44283421087091, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2989.7890156190138, + 41.44283421087091, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2989.7890156190138, + 38.44283421087091, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2989.7890156190138, + 35.44283421087091, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2989.7890156190138, + 32.44283421087091, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2989.7890156190138, + 29.442834210870913, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2989.7890156190138, + 26.442834210870913, + 45.37252394081929 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2989.7890156190138, + 23.442834210870913, + 45.37252394081929 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3000.0, + -12.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-15-24_1911539847/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-15-24_1911539847/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..386a3c093c09a74c4b32916c1bf69c90080716bf --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-15-24_1911539847/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4706.997438981916, + 250.3229761385733, + 69.27476595416121 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4703.997438981916, + 250.3229761385733, + 69.27476595416121 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4700.997438981916, + 250.3229761385733, + 69.27476595416121 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4697.997438981916, + 250.3229761385733, + 69.27476595416121 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4694.997438981916, + 250.3229761385733, + 69.27476595416121 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4691.997438981916, + 250.3229761385733, + 69.27476595416121 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4688.997438981916, + 250.3229761385733, + 69.27476595416121 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4584.0, + 244.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-16-55_22852617/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-16-55_22852617/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae21e82d91fd315c6324f29ef96eb798a6000f64 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-16-55_22852617/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2626.6991951968967, + 1488.0734499647187, + 59.79101921956057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2628.1991951968967, + 1490.6715261760721, + 59.79101921956057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2629.6991951968967, + 1493.2696023874255, + 59.79101921956057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2631.1991951968967, + 1495.8676785987789, + 59.79101921956057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2632.6991951968967, + 1498.4657548101322, + 59.79101921956057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2634.1991951968967, + 1501.0638310214856, + 59.79101921956057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2635.6991951968967, + 1503.661907232839, + 59.79101921956057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2637.1991951968967, + 1506.2599834441924, + 59.79101921956057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2638.6991951968967, + 1508.8580596555457, + 59.79101921956057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2640.1991951968967, + 1511.456135866899, + 59.79101921956057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2641.6991951968967, + 1514.0542120782525, + 59.79101921956057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2643.1991951968967, + 1516.6522882896058, + 59.79101921956057 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2643.1991951968967, + 1516.6522882896058, + 59.79101921956057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2645.79727140825, + 1518.1522882896058, + 59.79101921956057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2648.395347619603, + 1519.6522882896058, + 59.79101921956057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2650.993423830956, + 1521.1522882896058, + 59.79101921956057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2653.5915000423092, + 1522.6522882896058, + 59.79101921956057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2656.1895762536624, + 1524.1522882896058, + 59.79101921956057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2658.7876524650155, + 1525.6522882896058, + 59.79101921956057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2661.3857286763687, + 1527.1522882896058, + 59.79101921956057 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2661.3857286763687, + 1527.1522882896058, + 59.79101921956057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2662.8857286763687, + 1529.7503645009592, + 59.79101921956057 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2664.3857286763687, + 1532.3484407123126, + 59.79101921956057 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2692.0, + 1564.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-17-39_1414460396/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-17-39_1414460396/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..09af6a2bd6afcdfd01cb4380ef2bd1a9e632ca26 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-17-39_1414460396/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -709.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -706.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -703.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -700.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -697.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -694.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -691.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -688.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -685.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -682.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -679.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -676.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -673.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -670.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -667.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -664.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -661.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -658.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -655.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -652.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -649.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -646.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -643.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -640.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -637.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -634.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -631.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -628.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -625.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -622.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -622.6121533429028, + -10.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -620.0140771315496, + -8.502486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -617.4160009201962, + -7.002486084483182, + 56.42413519268785 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -614.8179247088428, + -5.502486084483182, + 56.42413519268785 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -568.0, + -4.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-2-2_411266131/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-2-2_411266131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f7252ba73f3889e7fb1ca3247cac47b4a8a2684 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-2-2_411266131/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1959.7439298781148, + -284.54288191437456, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1958.2439298781148, + -281.94480570302125, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1956.7439298781148, + -279.34672949166793, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1955.2439298781148, + -276.7486532803146, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1953.7439298781148, + -274.1505770689613, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1952.2439298781148, + -271.552500857608, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1950.7439298781148, + -268.95442464625467, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1949.2439298781148, + -266.35634843490135, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1947.7439298781148, + -263.75827222354803, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1946.2439298781148, + -261.1601960121947, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1944.7439298781148, + -258.5621198008414, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1943.2439298781148, + -255.96404358948809, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1941.7439298781148, + -253.36596737813477, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1940.2439298781148, + -250.76789116678145, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1938.7439298781148, + -248.16981495542814, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1937.2439298781148, + -245.57173874407482, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1935.7439298781148, + -242.9736625327215, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1934.2439298781148, + -240.3755863213682, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1932.7439298781148, + -237.77751011001487, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1931.2439298781148, + -235.17943389866156, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1929.7439298781148, + -232.58135768730824, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1928.2439298781148, + -229.98328147595493, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1926.7439298781148, + -227.3852052646016, + 60.87015366598986 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1926.7439298781148, + -227.3852052646016, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1926.7439298781148, + -224.3852052646016, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1926.7439298781148, + -221.3852052646016, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1926.7439298781148, + -218.3852052646016, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1926.7439298781148, + -215.3852052646016, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1926.7439298781148, + -212.3852052646016, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1926.7439298781148, + -209.3852052646016, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1926.7439298781148, + -206.3852052646016, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1926.7439298781148, + -203.3852052646016, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1926.7439298781148, + -200.3852052646016, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1926.7439298781148, + -197.3852052646016, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1926.7439298781148, + -194.3852052646016, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1926.7439298781148, + -191.3852052646016, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1926.7439298781148, + -188.3852052646016, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1926.7439298781148, + -185.3852052646016, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1926.7439298781148, + -182.3852052646016, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1926.7439298781148, + -179.3852052646016, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1926.7439298781148, + -176.3852052646016, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1926.7439298781148, + -173.3852052646016, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1926.7439298781148, + -170.3852052646016, + 60.87015366598986 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1926.7439298781148, + -167.3852052646016, + 60.87015366598986 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1920.0, + -144.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-21-1_282723354/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-21-1_282723354/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c8168c1f5f168425563532ddfb34181fa0fbfb19 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-21-1_282723354/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 447.0089857180477, + 470.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 447.0089857180477, + 473.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 447.0089857180477, + 476.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 447.0089857180477, + 479.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 447.0089857180477, + 482.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 447.0089857180477, + 485.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 447.0089857180477, + 488.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 447.0089857180477, + 491.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 447.0089857180477, + 494.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 447.0089857180477, + 497.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 447.0089857180477, + 500.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 447.0089857180477, + 503.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 447.0089857180477, + 506.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 447.0089857180477, + 509.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 447.0089857180477, + 512.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 447.0089857180477, + 515.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 447.0089857180477, + 518.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 447.0089857180477, + 521.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 447.0089857180477, + 524.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 447.0089857180477, + 527.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 447.0089857180477, + 530.1612652534968, + 52.88126219406669 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 447.0089857180477, + 530.1612652534968, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 445.5089857180477, + 532.7593414648502, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 444.0089857180477, + 535.3574176762036, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 442.5089857180477, + 537.9554938875569, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 441.0089857180477, + 540.5535700989103, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 439.5089857180477, + 543.1516463102637, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 438.0089857180477, + 545.7497225216171, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 436.5089857180477, + 548.3477987329704, + 52.88126219406669 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 435.0089857180477, + 550.9458749443238, + 52.88126219406669 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 428.0, + 576.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-27-43_187386865/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-27-43_187386865/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e178834f2373b1a2b6e4284709d91c686e470d65 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-27-43_187386865/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 137.10357115436668, + 2397.4008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 139.70164736572, + 2398.9008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 142.2997235770733, + 2400.4008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 144.89779978842662, + 2401.9008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 147.49587599977994, + 2403.4008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 150.09395221113326, + 2404.9008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 152.69202842248657, + 2406.4008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 155.2901046338399, + 2407.9008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 157.8881808451932, + 2409.4008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 160.48625705654652, + 2410.9008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 163.08433326789984, + 2412.4008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 165.68240947925315, + 2413.9008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 168.28048569060647, + 2415.4008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 170.87856190195978, + 2416.9008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 173.4766381133131, + 2418.4008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 176.07471432466642, + 2419.9008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 178.67279053601973, + 2421.4008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 181.27086674737305, + 2422.9008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 183.86894295872636, + 2424.4008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 186.46701917007968, + 2425.9008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 189.065095381433, + 2427.4008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 191.6631715927863, + 2428.9008752850186, + 57.07603871246181 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 191.6631715927863, + 2428.9008752850186, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 193.1631715927863, + 2431.498951496372, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 194.6631715927863, + 2434.097027707725, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 196.1631715927863, + 2436.695103919078, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 197.6631715927863, + 2439.293180130431, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 199.1631715927863, + 2441.8912563417844, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 200.6631715927863, + 2444.4893325531375, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 202.1631715927863, + 2447.0874087644906, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 203.6631715927863, + 2449.685484975844, + 57.07603871246181 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 205.1631715927863, + 2452.283561187197, + 57.07603871246181 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 224.0, + 2464.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-3-43_1498119944/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-3-43_1498119944/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60d7bae91dae1d06e2de2b35a74cd022e369f3c3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-3-43_1498119944/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2897.322523307309, + -1930.8456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2894.724447095956, + -1929.3456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2892.1263708846027, + -1927.8456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2889.5282946732495, + -1926.3456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2886.9302184618964, + -1924.8456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2884.3321422505433, + -1923.3456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2881.73406603919, + -1921.8456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2879.135989827837, + -1920.3456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2876.537913616484, + -1918.8456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2873.9398374051307, + -1917.3456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2871.3417611937775, + -1915.8456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2868.7436849824244, + -1914.3456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2866.1456087710712, + -1912.8456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2863.547532559718, + -1911.3456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2860.949456348365, + -1909.8456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2858.351380137012, + -1908.3456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2855.7533039256587, + -1906.8456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2853.1552277143055, + -1905.3456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2850.5571515029524, + -1903.8456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2847.959075291599, + -1902.3456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2845.360999080246, + -1900.8456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2842.762922868893, + -1899.3456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2840.16484665754, + -1897.8456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2837.5667704461866, + -1896.3456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2834.9686942348335, + -1894.8456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2832.3706180234803, + -1893.3456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2829.772541812127, + -1891.8456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2827.174465600774, + -1890.3456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2824.576389389421, + -1888.8456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2821.9783131780678, + -1887.3456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2819.3802369667146, + -1885.8456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2816.7821607553615, + -1884.3456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2814.1840845440083, + -1882.8456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2811.586008332655, + -1881.3456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2808.987932121302, + -1879.8456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2806.389855909949, + -1878.3456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2803.7917796985957, + -1876.8456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2801.1937034872426, + -1875.3456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2798.5956272758895, + -1873.8456301442386, + 64.69257088042411 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2795.9975510645363, + -1872.3456301442386, + 64.69257088042411 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2780.0, + -1860.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-37-12_1527337001/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-37-12_1527337001/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0cbc46823924975a08175c8f366451d72b4322fd --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-37-12_1527337001/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2945.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2942.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2939.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2936.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2933.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2930.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2927.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2924.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2921.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2918.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2915.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2912.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2909.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2906.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2903.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2900.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2897.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2894.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2891.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2888.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2885.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2882.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2879.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2876.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2873.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2870.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2867.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2867.864622069855, + -806.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2865.266545858502, + -808.0441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2862.668469647149, + -809.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2860.0703934357957, + -811.0441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2857.4723172244426, + -812.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2854.8742410130894, + -814.0441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2852.2761648017363, + -815.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2849.678088590383, + -817.0441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2847.08001237903, + -818.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2844.481936167677, + -820.0441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2841.8838599563237, + -821.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2839.2857837449706, + -823.0441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2836.6877075336174, + -824.5441758626761, + 49.91696840248951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2834.0896313222643, + -826.0441758626761, + 49.91696840248951 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2812.0, + -832.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-39-3_1328674418/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-39-3_1328674418/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0975f68a28cbdb2d5f45ab3598b1dd4e4e8e537a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-39-3_1328674418/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2977.555773666662, + -934.9872187235108, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2976.055773666662, + -932.3891425121574, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2974.555773666662, + -929.791066300804, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2973.055773666662, + -927.1929900894506, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2971.555773666662, + -924.5949138780973, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2970.055773666662, + -921.9968376667439, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2968.555773666662, + -919.3987614553905, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2967.055773666662, + -916.8006852440371, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2965.555773666662, + -914.2026090326838, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2964.055773666662, + -911.6045328213304, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2962.555773666662, + -909.006456609977, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2961.055773666662, + -906.4083803986236, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2959.555773666662, + -903.8103041872703, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2958.055773666662, + -901.2122279759169, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2956.555773666662, + -898.6141517645635, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2955.055773666662, + -896.0160755532102, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2953.555773666662, + -893.4179993418568, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2952.055773666662, + -890.8199231305034, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2950.555773666662, + -888.22184691915, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2949.055773666662, + -885.6237707077967, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2947.555773666662, + -883.0256944964433, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2946.055773666662, + -880.4276182850899, + 66.86337576764781 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2946.055773666662, + -880.4276182850899, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2946.055773666662, + -877.4276182850899, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2946.055773666662, + -874.4276182850899, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2946.055773666662, + -871.4276182850899, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2946.055773666662, + -868.4276182850899, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2946.055773666662, + -865.4276182850899, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2946.055773666662, + -862.4276182850899, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2946.055773666662, + -859.4276182850899, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2946.055773666662, + -856.4276182850899, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2946.055773666662, + -853.4276182850899, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2946.055773666662, + -850.4276182850899, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2946.055773666662, + -847.4276182850899, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2946.055773666662, + -844.4276182850899, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2946.055773666662, + -841.4276182850899, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2946.055773666662, + -838.4276182850899, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2946.055773666662, + -835.4276182850899, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2946.055773666662, + -832.4276182850899, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2946.055773666662, + -829.4276182850899, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2946.055773666662, + -826.4276182850899, + 66.86337576764781 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2946.055773666662, + -823.4276182850899, + 66.86337576764781 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2936.0, + -792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-4-24_371704852/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-4-24_371704852/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8cae6e05aeee38cf6d6eef459c2846f6af4735b1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-4-24_371704852/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1580.6590037038907, + -1964.3434214768008, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1579.1590037038907, + -1961.7453452654474, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1577.6590037038907, + -1959.147269054094, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1576.1590037038907, + -1956.5491928427407, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1574.6590037038907, + -1953.9511166313873, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1573.1590037038907, + -1951.353040420034, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1571.6590037038907, + -1948.7549642086806, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1570.1590037038907, + -1946.1568879973272, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1568.6590037038907, + -1943.5588117859738, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1567.1590037038907, + -1940.9607355746205, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1565.6590037038907, + -1938.362659363267, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1564.1590037038907, + -1935.7645831519137, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1562.6590037038907, + -1933.1665069405603, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1561.1590037038907, + -1930.568430729207, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1559.6590037038907, + -1927.9703545178536, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1558.1590037038907, + -1925.3722783065002, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1556.6590037038907, + -1922.7742020951468, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1555.1590037038907, + -1920.1761258837935, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1553.6590037038907, + -1917.57804967244, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1552.1590037038907, + -1914.9799734610867, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1550.6590037038907, + -1912.3818972497334, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1549.1590037038907, + -1909.78382103838, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1547.6590037038907, + -1907.1857448270266, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1546.1590037038907, + -1904.5876686156732, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1544.6590037038907, + -1901.9895924043199, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1543.1590037038907, + -1899.3915161929665, + 50.7981909704659 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1543.1590037038907, + -1899.3915161929665, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1540.5609274925373, + -1897.8915161929665, + 50.7981909704659 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1537.962851281184, + -1896.3915161929665, + 50.7981909704659 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1524.0, + -1876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-40-56_1487223193/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-40-56_1487223193/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e9cabd3c6525d9d03df775ef9c63fe631b7a3b73 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-40-56_1487223193/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4513.813962474447, + -2515.8738651225535, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4512.313962474447, + -2513.2757889112004, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4510.813962474447, + -2510.6777126998472, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4509.313962474447, + -2508.079636488494, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4507.813962474447, + -2505.481560277141, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4506.313962474447, + -2502.883484065788, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4504.813962474447, + -2500.2854078544347, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4503.313962474447, + -2497.6873316430815, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4501.813962474447, + -2495.0892554317284, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4500.313962474447, + -2492.491179220375, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4498.813962474447, + -2489.893103009022, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4497.313962474447, + -2487.295026797669, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4495.813962474447, + -2484.696950586316, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4494.313962474447, + -2482.0988743749626, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4492.813962474447, + -2479.5007981636095, + 44.06409599054856 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4492.813962474447, + -2479.5007981636095, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4490.215886263094, + -2478.0007981636095, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4487.617810051741, + -2476.5007981636095, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4485.019733840388, + -2475.0007981636095, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4482.421657629035, + -2473.5007981636095, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4479.823581417681, + -2472.0007981636095, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4477.225505206328, + -2470.5007981636095, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4474.627428994975, + -2469.0007981636095, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4472.029352783622, + -2467.5007981636095, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4469.431276572269, + -2466.0007981636095, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4466.833200360916, + -2464.5007981636095, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4464.235124149563, + -2463.0007981636095, + 44.06409599054856 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4461.637047938209, + -2461.5007981636095, + 44.06409599054856 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4444.0, + -2444.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-46-33_304133130/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-46-33_304133130/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..900bf32381e8f58cfb98500b788842fb3792b8bd --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-46-33_304133130/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4810.291460356179, + 1132.6561801893213, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4808.791460356179, + 1130.058103977968, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4807.291460356179, + 1127.4600277666145, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4805.791460356179, + 1124.8619515552612, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4804.291460356179, + 1122.2638753439078, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4802.791460356179, + 1119.6657991325544, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4801.291460356179, + 1117.067722921201, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4799.791460356179, + 1114.4696467098477, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4798.291460356179, + 1111.8715704984943, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4796.791460356179, + 1109.273494287141, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4795.291460356179, + 1106.6754180757875, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4793.791460356179, + 1104.0773418644342, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4792.291460356179, + 1101.4792656530808, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4790.791460356179, + 1098.8811894417274, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4789.291460356179, + 1096.283113230374, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4787.791460356179, + 1093.6850370190207, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4786.291460356179, + 1091.0869608076673, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4784.791460356179, + 1088.488884596314, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4783.291460356179, + 1085.8908083849606, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4781.791460356179, + 1083.2927321736072, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4780.291460356179, + 1080.6946559622538, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4778.791460356179, + 1078.0965797509004, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4777.291460356179, + 1075.498503539547, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4775.791460356179, + 1072.9004273281937, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4774.291460356179, + 1070.3023511168403, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4772.791460356179, + 1067.704274905487, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4771.291460356179, + 1065.1061986941336, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4769.791460356179, + 1062.5081224827802, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4768.291460356179, + 1059.9100462714268, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4766.791460356179, + 1057.3119700600735, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4765.291460356179, + 1054.71389384872, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4763.791460356179, + 1052.1158176373667, + 69.61988441184758 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4762.291460356179, + 1049.5177414260133, + 69.61988441184758 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4736.0, + 1008.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-46-52_806176022/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-46-52_806176022/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2995efaee0a5d9d5f0cf005c5960179375e2adeb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-46-52_806176022/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1913.818692560577, + -415.66507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1911.2206163492235, + -417.16507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1908.6225401378701, + -418.66507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1906.0244639265168, + -420.16507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1903.4263877151634, + -421.66507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1900.82831150381, + -423.16507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1898.2302352924567, + -424.66507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1895.6321590811033, + -426.16507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1893.03408286975, + -427.66507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1890.4360066583965, + -429.16507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1887.8379304470432, + -430.66507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1885.2398542356898, + -432.16507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1882.6417780243364, + -433.66507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1880.043701812983, + -435.16507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1877.4456256016297, + -436.66507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1874.8475493902763, + -438.16507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1872.249473178923, + -439.66507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1869.6513969675696, + -441.16507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1867.0533207562162, + -442.66507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1864.4552445448628, + -444.16507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1861.8571683335094, + -445.66507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1859.259092122156, + -447.16507212546503, + 43.594557477239306 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1856.6610159108027, + -448.66507212546503, + 43.594557477239306 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1804.0, + -484.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-46-5_1481969091/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-46-5_1481969091/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67529deedd8aa3e885eaab018c216c076d7d244a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-46-5_1481969091/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -257.9968362654782, + 820.2223599895054, + 50.81304450965424 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -260.5949124768315, + 821.7223599895054, + 50.81304450965424 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -263.1929886881848, + 823.2223599895054, + 50.81304450965424 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -265.7910648995381, + 824.7223599895054, + 50.81304450965424 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -268.38914111089144, + 826.2223599895054, + 50.81304450965424 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -270.98721732224476, + 827.7223599895054, + 50.81304450965424 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -273.5852935335981, + 829.2223599895054, + 50.81304450965424 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -276.1833697449514, + 830.7223599895054, + 50.81304450965424 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -278.7814459563047, + 832.2223599895054, + 50.81304450965424 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -281.379522167658, + 833.7223599895054, + 50.81304450965424 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -283.97759837901134, + 835.2223599895054, + 50.81304450965424 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -286.57567459036466, + 836.7223599895054, + 50.81304450965424 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -289.173750801718, + 838.2223599895054, + 50.81304450965424 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -291.7718270130713, + 839.7223599895054, + 50.81304450965424 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -294.3699032244246, + 841.2223599895054, + 50.81304450965424 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -296.9679794357779, + 842.7223599895054, + 50.81304450965424 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -299.56605564713124, + 844.2223599895054, + 50.81304450965424 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -299.56605564713124, + 844.2223599895054, + 50.81304450965424 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -301.06605564713124, + 846.8204362008587, + 50.81304450965424 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -302.56605564713124, + 849.4185124122121, + 50.81304450965424 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -304.06605564713124, + 852.0165886235654, + 50.81304450965424 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -360.0, + 888.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-48-39_1635654526/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-48-39_1635654526/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f2f2356492ca2fe6f794beb704ee729e7c4f093 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-48-39_1635654526/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -93.45483057119958, + -1954.7024524159146, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -90.85675435984626, + -1956.2024524159146, + 47.451649494383744 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -90.85675435984626, + -1956.2024524159146, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -89.35675435984626, + -1958.800528627268, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -87.85675435984626, + -1961.3986048386214, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -86.35675435984626, + -1963.9966810499748, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -84.85675435984626, + -1966.5947572613281, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -83.35675435984626, + -1969.1928334726815, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -81.85675435984626, + -1971.790909684035, + 47.451649494383744 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -81.85675435984626, + -1971.790909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -79.25867814849295, + -1973.290909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -76.66060193713963, + -1974.790909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -74.06252572578632, + -1976.290909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -71.464449514433, + -1977.790909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -68.86637330307968, + -1979.290909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -66.26829709172637, + -1980.790909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -63.67022088037305, + -1982.290909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -61.072144669019735, + -1983.790909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -58.47406845766642, + -1985.290909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -55.8759922463131, + -1986.790909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -53.27791603495979, + -1988.290909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -50.67983982360647, + -1989.790909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -48.081763612253155, + -1991.290909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -45.48368740089984, + -1992.790909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -42.88561118954652, + -1994.290909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -40.28753497819321, + -1995.790909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -37.68945876683989, + -1997.290909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -35.091382555486575, + -1998.790909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -32.49330634413326, + -2000.290909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -29.895230132779943, + -2001.790909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -27.297153921426627, + -2003.290909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -24.69907771007331, + -2004.790909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -22.101001498719995, + -2006.290909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -19.50292528736668, + -2007.790909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -16.904849076013363, + -2009.290909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -14.306772864660047, + -2010.790909684035, + 47.451649494383744 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -11.708696653306731, + -2012.290909684035, + 47.451649494383744 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 8.0, + -2024.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-49-44_1865987415/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-49-44_1865987415/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa78a7196a4467f24d5d77d624a6c921cac3213e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-49-44_1865987415/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1569.5356350982338, + -1442.9259909973503, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1568.0356350982338, + -1445.5240672087036, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1566.5356350982338, + -1448.122143420057, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1565.0356350982338, + -1450.7202196314104, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1563.5356350982338, + -1453.3182958427637, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1562.0356350982338, + -1455.9163720541171, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1560.5356350982338, + -1458.5144482654705, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1559.0356350982338, + -1461.1125244768239, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1557.5356350982338, + -1463.7106006881772, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1556.0356350982338, + -1466.3086768995306, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1554.5356350982338, + -1468.906753110884, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1553.0356350982338, + -1471.5048293222374, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1551.5356350982338, + -1474.1029055335907, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1550.0356350982338, + -1476.700981744944, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1548.5356350982338, + -1479.2990579562975, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1547.0356350982338, + -1481.8971341676508, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1545.5356350982338, + -1484.4952103790042, + 68.28863093432443 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1545.5356350982338, + -1484.4952103790042, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1542.9375588868804, + -1485.9952103790042, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1540.339482675527, + -1487.4952103790042, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1537.7414064641737, + -1488.9952103790042, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1535.1433302528203, + -1490.4952103790042, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1532.545254041467, + -1491.9952103790042, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1529.9471778301136, + -1493.4952103790042, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1527.3491016187602, + -1494.9952103790042, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1524.7510254074068, + -1496.4952103790042, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1522.1529491960534, + -1497.9952103790042, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1519.5548729847, + -1499.4952103790042, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1516.9567967733467, + -1500.9952103790042, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1514.3587205619933, + -1502.4952103790042, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1511.76064435064, + -1503.9952103790042, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1509.1625681392866, + -1505.4952103790042, + 68.28863093432443 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1506.5644919279332, + -1506.9952103790042, + 68.28863093432443 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1492.0, + -1524.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-5-54_184366026/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-5-54_184366026/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4567e53870dbf95422104c8785c9ef70d45fbaa9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-5-54_184366026/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4772.808026736031, + -356.44604347903663, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4771.308026736031, + -359.04411969038995, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4769.808026736031, + -361.64219590174326, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4768.308026736031, + -364.2402721130966, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4766.808026736031, + -366.8383483244499, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4765.308026736031, + -369.4364245358032, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4763.808026736031, + -372.0345007471565, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4762.308026736031, + -374.63257695850984, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4760.808026736031, + -377.23065316986316, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4759.308026736031, + -379.8287293812165, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4757.808026736031, + -382.4268055925698, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4756.308026736031, + -385.0248818039231, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4754.808026736031, + -387.6229580152764, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4753.308026736031, + -390.22103422662974, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4751.808026736031, + -392.81911043798306, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4750.308026736031, + -395.4171866493364, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4748.808026736031, + -398.0152628606897, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4747.308026736031, + -400.613339072043, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4745.808026736031, + -403.2114152833963, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4744.308026736031, + -405.80949149474964, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4742.808026736031, + -408.40756770610295, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4741.308026736031, + -411.00564391745627, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4739.808026736031, + -413.6037201288096, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4738.308026736031, + -416.2017963401629, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4736.808026736031, + -418.7998725515162, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4735.308026736031, + -421.39794876286953, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4733.808026736031, + -423.99602497422285, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4732.308026736031, + -426.59410118557616, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4730.808026736031, + -429.1921773969295, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4729.308026736031, + -431.7902536082828, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4727.808026736031, + -434.3883298196361, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4726.308026736031, + -436.98640603098943, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4724.808026736031, + -439.58448224234274, + 67.7135893443205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4723.308026736031, + -442.18255845369606, + 67.7135893443205 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4704.0, + -468.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-50-4_909448681/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-50-4_909448681/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3ea8195d7c1e04e7d53eba49851e375e9c5f37eb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-50-4_909448681/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1699.1648919647885, + -569.4876091779117, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1702.1648919647885, + -569.4876091779117, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1705.1648919647885, + -569.4876091779117, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1708.1648919647885, + -569.4876091779117, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1711.1648919647885, + -569.4876091779117, + 44.228226002551004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1711.1648919647885, + -569.4876091779117, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1713.7629681761418, + -570.9876091779117, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1716.3610443874952, + -572.4876091779117, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1718.9591205988486, + -573.9876091779117, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1721.557196810202, + -575.4876091779117, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1724.1552730215553, + -576.9876091779117, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1726.7533492329087, + -578.4876091779117, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1729.351425444262, + -579.9876091779117, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1731.9495016556154, + -581.4876091779117, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1734.5475778669688, + -582.9876091779117, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1737.1456540783222, + -584.4876091779117, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1739.7437302896756, + -585.9876091779117, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1742.341806501029, + -587.4876091779117, + 44.228226002551004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1742.341806501029, + -587.4876091779117, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1743.841806501029, + -590.0856853892651, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1745.341806501029, + -592.6837616006185, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1746.841806501029, + -595.2818378119719, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1748.341806501029, + -597.8799140233252, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1749.841806501029, + -600.4779902346786, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1751.341806501029, + -603.076066446032, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1752.841806501029, + -605.6741426573853, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1754.341806501029, + -608.2722188687387, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1755.841806501029, + -610.8702950800921, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1757.341806501029, + -613.4683712914455, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1758.841806501029, + -616.0664475027988, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1760.341806501029, + -618.6645237141522, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1761.841806501029, + -621.2625999255056, + 44.228226002551004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1761.841806501029, + -621.2625999255056, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1764.4398827123823, + -622.7625999255056, + 44.228226002551004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1767.0379589237357, + -624.2625999255056, + 44.228226002551004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1796.0, + -648.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-53-31_1354575023/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-53-31_1354575023/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8eda22894ff0a9f86eb0c75d454745801e823a21 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-53-31_1354575023/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3140.4748645748127, + -60.08548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3137.8767883634596, + -58.58548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3135.2787121521064, + -57.08548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3132.6806359407533, + -55.58548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3130.0825597294, + -54.08548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3127.484483518047, + -52.58548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3124.886407306694, + -51.08548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3122.2883310953407, + -49.58548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3119.6902548839876, + -48.08548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3117.0921786726344, + -46.58548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3114.4941024612813, + -45.08548160827021, + 43.87781837101636 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3114.4941024612813, + -45.08548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535897647 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3111.4941024612813, + -45.08548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3108.4941024612813, + -45.08548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3105.4941024612813, + -45.08548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3102.4941024612813, + -45.08548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3099.4941024612813, + -45.08548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3096.4941024612813, + -45.08548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3093.4941024612813, + -45.08548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3090.4941024612813, + -45.08548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3087.4941024612813, + -45.08548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3084.4941024612813, + -45.08548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3081.4941024612813, + -45.08548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3078.4941024612813, + -45.08548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3075.4941024612813, + -45.08548160827021, + 43.87781837101636 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3075.4941024612813, + -45.08548160827021, + 43.87781837101636 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3075.4941024612813, + -45.08548160827021, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3073.9941024612813, + -42.48740539691689, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3072.4941024612813, + -39.889329185563575, + 43.87781837101636 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3072.4941024612813, + -39.889329185563575, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3069.896026249928, + -38.389329185563575, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3067.297950038575, + -36.889329185563575, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3064.699873827222, + -35.389329185563575, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3062.1017976158687, + -33.889329185563575, + 43.87781837101636 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3059.5037214045155, + -32.389329185563575, + 43.87781837101636 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3000.0, + -12.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-53-52_210576770/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-53-52_210576770/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa82f69b9428ef1fe533bd8e4aec499016b3b635 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-53-52_210576770/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2992.7140232276342, + 1634.7434172173603, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2992.7140232276342, + 1637.7434172173603, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2992.7140232276342, + 1640.7434172173603, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2992.7140232276342, + 1643.7434172173603, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2992.7140232276342, + 1646.7434172173603, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2992.7140232276342, + 1649.7434172173603, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2992.7140232276342, + 1652.7434172173603, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2992.7140232276342, + 1655.7434172173603, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2992.7140232276342, + 1658.7434172173603, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2992.7140232276342, + 1661.7434172173603, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2992.7140232276342, + 1664.7434172173603, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2992.7140232276342, + 1667.7434172173603, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2992.7140232276342, + 1670.7434172173603, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2992.7140232276342, + 1673.7434172173603, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2992.7140232276342, + 1676.7434172173603, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2992.7140232276342, + 1679.7434172173603, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2992.7140232276342, + 1682.7434172173603, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2992.7140232276342, + 1685.7434172173603, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2992.7140232276342, + 1688.7434172173603, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2992.7140232276342, + 1691.7434172173603, + 59.16297103632178 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2992.7140232276342, + 1691.7434172173603, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2991.2140232276342, + 1694.3414934287136, + 59.16297103632178 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2989.7140232276342, + 1696.939569640067, + 59.16297103632178 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2984.0, + 1736.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-56-43_1322510069/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-56-43_1322510069/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c05cc718b77f88daccfc6c4c4001e0af447fc7f3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-56-43_1322510069/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2404.8005298085154, + 182.83837876226437, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2403.3005298085154, + 180.24030255091105, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2401.8005298085154, + 177.64222633955774, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2400.3005298085154, + 175.04415012820442, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2398.8005298085154, + 172.4460739168511, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2397.3005298085154, + 169.8479977054978, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2395.8005298085154, + 167.24992149414447, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2394.3005298085154, + 164.65184528279116, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2392.8005298085154, + 162.05376907143784, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2391.3005298085154, + 159.45569286008453, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2389.8005298085154, + 156.8576166487312, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2388.3005298085154, + 154.2595404373779, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2386.8005298085154, + 151.66146422602458, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2385.3005298085154, + 149.06338801467126, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2383.8005298085154, + 146.46531180331795, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2382.3005298085154, + 143.86723559196463, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2380.8005298085154, + 141.2691593806113, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2379.3005298085154, + 138.671083169258, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2377.8005298085154, + 136.07300695790468, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2376.3005298085154, + 133.47493074655137, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2374.8005298085154, + 130.87685453519805, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2373.3005298085154, + 128.27877832384473, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2371.8005298085154, + 125.68070211249142, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2370.3005298085154, + 123.0826259011381, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2368.8005298085154, + 120.48454968978479, + 42.279934990556185 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2368.8005298085154, + 120.48454968978479, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2368.8005298085154, + 117.48454968978479, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2368.8005298085154, + 114.48454968978479, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2368.8005298085154, + 111.48454968978479, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2368.8005298085154, + 108.48454968978479, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2368.8005298085154, + 105.48454968978479, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2368.8005298085154, + 102.48454968978479, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2368.8005298085154, + 99.48454968978479, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2368.8005298085154, + 96.48454968978479, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2368.8005298085154, + 93.48454968978479, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2368.8005298085154, + 90.48454968978479, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2368.8005298085154, + 87.48454968978479, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2368.8005298085154, + 84.48454968978479, + 42.279934990556185 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2368.8005298085154, + 84.48454968978479, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2367.3005298085154, + 81.88647347843147, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2365.8005298085154, + 79.28839726707815, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2364.3005298085154, + 76.69032105572484, + 42.279934990556185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2362.8005298085154, + 74.09224484437152, + 42.279934990556185 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2352.0, + 48.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-57-29_681195176/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-57-29_681195176/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c5e3a8992ec27b2690eb3d05bde305154828197e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-57-29_681195176/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 66.51394485572735, + -2431.164907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 69.11202106708066, + -2432.664907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 71.71009727843398, + -2434.164907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 74.3081734897873, + -2435.664907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 76.90624970114061, + -2437.164907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 79.50432591249393, + -2438.664907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 82.10240212384724, + -2440.164907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 84.70047833520056, + -2441.664907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 87.29855454655387, + -2443.164907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 89.89663075790719, + -2444.664907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 92.4947069692605, + -2446.164907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 95.09278318061382, + -2447.664907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 97.69085939196714, + -2449.164907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 100.28893560332045, + -2450.664907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 102.88701181467377, + -2452.164907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 105.48508802602709, + -2453.664907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 108.0831642373804, + -2455.164907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 110.68124044873372, + -2456.664907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 113.27931666008703, + -2458.164907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 115.87739287144035, + -2459.664907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 118.47546908279367, + -2461.164907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 121.07354529414698, + -2462.664907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 123.6716215055003, + -2464.164907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 126.26969771685361, + -2465.664907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 128.86777392820693, + -2467.164907661468, + 49.81251832974339 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 128.86777392820693, + -2467.164907661468, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 130.36777392820693, + -2469.762983872821, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 131.86777392820693, + -2472.3610600841744, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 133.36777392820693, + -2474.9591362955275, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 134.86777392820693, + -2477.5572125068807, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 136.36777392820693, + -2480.155288718234, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 137.86777392820693, + -2482.753364929587, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 139.36777392820693, + -2485.35144114094, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 140.86777392820693, + -2487.9495173522932, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 142.36777392820693, + -2490.5475935636464, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 143.86777392820693, + -2493.1456697749995, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 145.36777392820693, + -2495.7437459863527, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 146.86777392820693, + -2498.341822197706, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 148.36777392820693, + -2500.939898409059, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 149.86777392820693, + -2503.537974620412, + 49.81251832974339 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 151.36777392820693, + -2506.1360508317653, + 49.81251832974339 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 164.0, + -2520.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-6-14_1387516123/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-6-14_1387516123/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..95194755f619c86ef09abf101b40905fc0917239 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_6-6-14_1387516123/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1303.3730238828475, + 32.62898264143942, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1303.3730238828475, + 29.62898264143942, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1303.3730238828475, + 26.62898264143942, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1303.3730238828475, + 23.62898264143942, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1303.3730238828475, + 20.62898264143942, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1303.3730238828475, + 17.62898264143942, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1303.3730238828475, + 14.628982641439421, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1303.3730238828475, + 11.628982641439421, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1303.3730238828475, + 8.628982641439421, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1303.3730238828475, + 5.628982641439421, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1303.3730238828475, + 2.6289826414394213, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1303.3730238828475, + -0.3710173585605787, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1303.3730238828475, + -3.3710173585605787, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1303.3730238828475, + -6.371017358560579, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1303.3730238828475, + -9.371017358560579, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1303.3730238828475, + -12.371017358560579, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1303.3730238828475, + -15.371017358560579, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1303.3730238828475, + -18.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1303.3730238828475, + -21.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1303.3730238828475, + -24.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1303.3730238828475, + -27.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1303.3730238828475, + -30.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1303.3730238828475, + -33.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1303.3730238828475, + -36.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1303.3730238828475, + -39.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1303.3730238828475, + -42.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1303.3730238828475, + -45.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1303.3730238828475, + -48.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1303.3730238828475, + -51.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1303.3730238828475, + -54.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1303.3730238828475, + -57.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1303.3730238828475, + -60.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1303.3730238828475, + -63.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1303.3730238828475, + -66.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1303.3730238828475, + -69.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1303.3730238828475, + -72.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1303.3730238828475, + -75.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1303.3730238828475, + -78.37101735856058, + 43.92450863511049 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1303.3730238828475, + -78.37101735856058, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1301.8730238828475, + -80.9690935699139, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1300.3730238828475, + -83.56716978126721, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1298.8730238828475, + -86.16524599262053, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1297.3730238828475, + -88.76332220397384, + 43.92450863511049 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1295.8730238828475, + -91.36139841532716, + 43.92450863511049 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1296.0, + -108.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-1-27_619175679/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-1-27_619175679/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..963fe22be5a7bef14c2a872b05d1f34c046c0f9b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-1-27_619175679/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2820.7213206927613, + 1963.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2823.3193969041145, + 1962.028810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2825.9174731154676, + 1960.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2828.5155493268207, + 1959.028810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2831.113625538174, + 1957.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2833.711701749527, + 1956.028810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2836.30977796088, + 1954.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2838.9078541722333, + 1953.028810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2841.5059303835865, + 1951.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2844.1040065949396, + 1950.028810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2846.7020828062928, + 1948.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2849.300159017646, + 1947.028810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2851.898235228999, + 1945.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2854.496311440352, + 1944.028810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2857.0943876517053, + 1942.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2859.6924638630585, + 1941.028810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2862.2905400744116, + 1939.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2864.888616285765, + 1938.028810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2867.486692497118, + 1936.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2870.084768708471, + 1935.028810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2872.682844919824, + 1933.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2875.2809211311774, + 1932.028810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2877.8789973425305, + 1930.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2880.4770735538837, + 1929.028810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2883.075149765237, + 1927.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2885.67322597659, + 1926.028810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2888.271302187943, + 1924.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2890.8693783992962, + 1923.028810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2893.4674546106494, + 1921.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2896.0655308220025, + 1920.028810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2898.6636070333557, + 1918.528810380888, + 62.98229779524492 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2898.6636070333557, + 1918.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2901.6636070333557, + 1918.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2904.6636070333557, + 1918.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2907.6636070333557, + 1918.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2910.6636070333557, + 1918.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2913.6636070333557, + 1918.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2916.6636070333557, + 1918.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2919.6636070333557, + 1918.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2922.6636070333557, + 1918.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2925.6636070333557, + 1918.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2928.6636070333557, + 1918.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2931.6636070333557, + 1918.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2934.6636070333557, + 1918.528810380888, + 62.98229779524492 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -2937.6636070333557, + 1918.528810380888, + 62.98229779524492 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2960.0, + 1908.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-10-14_736581905/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-10-14_736581905/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb1d6a18bcb881fd2b2ba281b361ad2c10f51404 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-10-14_736581905/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2984.364516482346, + -186.1537861222552, + 63.377222580398794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2986.962592693699, + -184.6537861222552, + 63.377222580398794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2989.5606689050524, + -183.1537861222552, + 63.377222580398794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2992.1587451164055, + -181.6537861222552, + 63.377222580398794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2994.7568213277586, + -180.1537861222552, + 63.377222580398794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2997.354897539112, + -178.6537861222552, + 63.377222580398794 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2999.952973750465, + -177.1537861222552, + 63.377222580398794 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3100.0, + -140.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-14-24_735001925/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-14-24_735001925/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f6d40a3f6e453d288c339d2cc70a6d69792f2c3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-14-24_735001925/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -882.6185653949888, + 590.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -879.6185653949888, + 590.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -876.6185653949888, + 590.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -873.6185653949888, + 590.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -870.6185653949888, + 590.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -867.6185653949888, + 590.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -864.6185653949888, + 590.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -861.6185653949888, + 590.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -858.6185653949888, + 590.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -855.6185653949888, + 590.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -852.6185653949888, + 590.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -849.6185653949888, + 590.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -846.6185653949888, + 590.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -843.6185653949888, + 590.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -840.6185653949888, + 590.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -837.6185653949888, + 590.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -834.6185653949888, + 590.0030070341021, + 46.22110818073721 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -834.6185653949888, + 590.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -832.0204891836354, + 588.5030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -829.422412972282, + 587.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -826.8243367609286, + 585.5030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -824.2262605495753, + 584.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -821.6281843382219, + 582.5030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -819.0301081268685, + 581.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -816.4320319155152, + 579.5030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -813.8339557041618, + 578.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -811.2358794928084, + 576.5030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -808.637803281455, + 575.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -806.0397270701017, + 573.5030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -803.4416508587483, + 572.0030070341021, + 46.22110818073721 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -803.4416508587483, + 572.0030070341021, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -801.9416508587483, + 569.4049308227488, + 46.22110818073721 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -800.4416508587483, + 566.8068546113955, + 46.22110818073721 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965883 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -780.0, + 560.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-15-9_2092083088/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-15-9_2092083088/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e9160435f96ba27a6046d36c66e9f5a08ad6cd0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-15-9_2092083088/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2793.5871723707282, + 1361.5868993196539, + 55.63613444575716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2795.0871723707282, + 1364.1849755310072, + 55.63613444575716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2796.5871723707282, + 1366.7830517423606, + 55.63613444575716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2798.0871723707282, + 1369.381127953714, + 55.63613444575716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2799.5871723707282, + 1371.9792041650674, + 55.63613444575716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2801.0871723707282, + 1374.5772803764207, + 55.63613444575716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2802.5871723707282, + 1377.175356587774, + 55.63613444575716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2804.0871723707282, + 1379.7734327991275, + 55.63613444575716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2805.5871723707282, + 1382.3715090104808, + 55.63613444575716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2807.0871723707282, + 1384.9695852218342, + 55.63613444575716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2808.5871723707282, + 1387.5676614331876, + 55.63613444575716 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2848.0, + 1460.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-16-5_691639518/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-16-5_691639518/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..54d98713b89e2de8a0b37af07702e86e2ceb6f94 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-16-5_691639518/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2422.7953049152634, + 1449.242502356976, + 63.81199607732371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2419.7953049152634, + 1449.242502356976, + 63.81199607732371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2416.7953049152634, + 1449.242502356976, + 63.81199607732371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2413.7953049152634, + 1449.242502356976, + 63.81199607732371 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2410.7953049152634, + 1449.242502356976, + 63.81199607732371 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2410.7953049152634, + 1449.242502356976, + 63.81199607732371 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2408.1972287039102, + 1447.742502356976, + 63.81199607732371 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2405.599152492557, + 1446.242502356976, + 63.81199607732371 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2403.001076281204, + 1444.742502356976, + 63.81199607732371 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2400.403000069851, + 1443.242502356976, + 63.81199607732371 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2397.8049238584977, + 1441.742502356976, + 63.81199607732371 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2395.2068476471445, + 1440.242502356976, + 63.81199607732371 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2392.6087714357914, + 1438.742502356976, + 63.81199607732371 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2390.010695224438, + 1437.242502356976, + 63.81199607732371 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2387.412619013085, + 1435.742502356976, + 63.81199607732371 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2384.814542801732, + 1434.242502356976, + 63.81199607732371 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2382.216466590379, + 1432.742502356976, + 63.81199607732371 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2379.6183903790256, + 1431.242502356976, + 63.81199607732371 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2377.0203141676725, + 1429.742502356976, + 63.81199607732371 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2312.0, + 1404.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-20-57_1690815424/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-20-57_1690815424/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8666f397a3b1e6b13ca529fc4cc6f3abbb310345 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-20-57_1690815424/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1393.2581318946498, + -2288.5264575253686, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1395.8562081060031, + -2290.0264575253686, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1398.4542843173565, + -2291.5264575253686, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1401.0523605287099, + -2293.0264575253686, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1403.6504367400632, + -2294.5264575253686, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1406.2485129514166, + -2296.0264575253686, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1408.84658916277, + -2297.5264575253686, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1411.4446653741234, + -2299.0264575253686, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1414.0427415854767, + -2300.5264575253686, + 42.1395631408087 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1414.0427415854767, + -2300.5264575253686, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1415.5427415854767, + -2303.124533736722, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1417.0427415854767, + -2305.722609948075, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1418.5427415854767, + -2308.320686159428, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1420.0427415854767, + -2310.918762370781, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1421.5427415854767, + -2313.5168385821344, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1423.0427415854767, + -2316.1149147934875, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1424.5427415854767, + -2318.7129910048407, + 42.1395631408087 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1424.5427415854767, + -2318.7129910048407, + 42.1395631408087 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915224 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1424.5427415854767, + -2318.7129910048407, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898215 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1427.5427415854767, + -2318.7129910048407, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1430.5427415854767, + -2318.7129910048407, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1433.5427415854767, + -2318.7129910048407, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1436.5427415854767, + -2318.7129910048407, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1439.5427415854767, + -2318.7129910048407, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1442.5427415854767, + -2318.7129910048407, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1445.5427415854767, + -2318.7129910048407, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1448.5427415854767, + -2318.7129910048407, + 42.1395631408087 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1448.5427415854767, + -2318.7129910048407, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1451.14081779683, + -2317.2129910048407, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1453.7388940081835, + -2315.7129910048407, + 42.1395631408087 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1453.7388940081835, + -2315.7129910048407, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1456.7388940081835, + -2315.7129910048407, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1459.7388940081835, + -2315.7129910048407, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1462.7388940081835, + -2315.7129910048407, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1465.7388940081835, + -2315.7129910048407, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1468.7388940081835, + -2315.7129910048407, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1471.7388940081835, + -2315.7129910048407, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1474.7388940081835, + -2315.7129910048407, + 42.1395631408087 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1477.7388940081835, + -2315.7129910048407, + 42.1395631408087 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1512.0, + -2324.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-22-48_919191847/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-22-48_919191847/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84ca7ccc9677762dcc44f76299ce8413db4b6ae8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-22-48_919191847/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2395.642204755385, + -417.86718615368295, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2394.142204755385, + -420.46526236503627, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2392.642204755385, + -423.0633385763896, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2391.142204755385, + -425.6614147877429, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2389.642204755385, + -428.2594909990962, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2388.142204755385, + -430.85756721044953, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2386.642204755385, + -433.45564342180285, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2385.142204755385, + -436.05371963315616, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2383.642204755385, + -438.6517958445095, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2382.142204755385, + -441.2498720558628, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2380.642204755385, + -443.8479482672161, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2379.142204755385, + -446.4460244785694, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2377.642204755385, + -449.04410068992274, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2376.142204755385, + -451.64217690127606, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2374.642204755385, + -454.2402531126294, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2373.142204755385, + -456.8383293239827, + 66.79358957477656 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2373.142204755385, + -456.8383293239827, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2370.544128544032, + -458.3383293239827, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2367.946052332679, + -459.8383293239827, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2365.3479761213257, + -461.3383293239827, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2362.7498999099726, + -462.8383293239827, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2360.1518236986194, + -464.3383293239827, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2357.5537474872663, + -465.8383293239827, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2354.955671275913, + -467.3383293239827, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2352.35759506456, + -468.8383293239827, + 66.79358957477656 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2349.759518853207, + -470.3383293239827, + 66.79358957477656 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2296.0, + -524.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-24-56_2045064825/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-24-56_2045064825/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20ac3c3b50ed188ec12357bea639863504dd7ff8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-24-56_2045064825/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2723.977157883229, + -2037.5603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2726.5752340945824, + -2036.0603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2729.1733103059355, + -2034.5603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2731.7713865172886, + -2033.0603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2734.369462728642, + -2031.5603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2736.967538939995, + -2030.0603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2739.565615151348, + -2028.5603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2742.1636913627012, + -2027.0603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2744.7617675740544, + -2025.5603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2747.3598437854075, + -2024.0603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2749.9579199967607, + -2022.5603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2752.555996208114, + -2021.0603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2755.154072419467, + -2019.5603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2757.75214863082, + -2018.0603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2760.3502248421732, + -2016.5603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2762.9483010535264, + -2015.0603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2765.5463772648795, + -2013.5603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2768.1444534762327, + -2012.0603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2770.742529687586, + -2010.5603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2773.340605898939, + -2009.0603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2775.938682110292, + -2007.5603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2778.5367583216453, + -2006.0603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2781.1348345329984, + -2004.5603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2783.7329107443516, + -2003.0603512214188, + 55.91386336940546 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2783.7329107443516, + -2003.0603512214188, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2785.2329107443516, + -2000.4622750100655, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2786.7329107443516, + -1997.864198798712, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2788.2329107443516, + -1995.2661225873587, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2789.7329107443516, + -1992.6680463760053, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2791.2329107443516, + -1990.069970164652, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2792.7329107443516, + -1987.4718939532986, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2794.2329107443516, + -1984.8738177419452, + 55.91386336940546 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2795.7329107443516, + -1982.2757415305919, + 55.91386336940546 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2824.0, + -1964.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-26-21_228698447/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-26-21_228698447/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..deb2d847163b7142b1deaa1fd43a76a11df28391 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-26-21_228698447/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1303.0052868824778, + -1895.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1305.6033630938311, + -1897.2112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1308.2014393051845, + -1898.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1310.799515516538, + -1900.2112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1313.3975917278913, + -1901.7112063614106, + 53.79272437251481 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1313.3975917278913, + -1901.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1316.3975917278913, + -1901.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1319.3975917278913, + -1901.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1322.3975917278913, + -1901.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1325.3975917278913, + -1901.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1328.3975917278913, + -1901.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1331.3975917278913, + -1901.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1334.3975917278913, + -1901.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1337.3975917278913, + -1901.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1340.3975917278913, + -1901.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1343.3975917278913, + -1901.7112063614106, + 53.79272437251481 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1343.3975917278913, + -1901.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1345.9956679392446, + -1903.2112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1348.593744150598, + -1904.7112063614106, + 53.79272437251481 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1348.593744150598, + -1904.7112063614106, + 53.79272437251481 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1348.593744150598, + -1904.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1348.593744150598, + -1907.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1348.593744150598, + -1910.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1348.593744150598, + -1913.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1348.593744150598, + -1916.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1348.593744150598, + -1919.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1348.593744150598, + -1922.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1348.593744150598, + -1925.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1348.593744150598, + -1928.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1348.593744150598, + -1931.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1348.593744150598, + -1934.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1348.593744150598, + -1937.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1348.593744150598, + -1940.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1348.593744150598, + -1943.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1348.593744150598, + -1946.7112063614106, + 53.79272437251481 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1348.593744150598, + -1946.7112063614106, + 53.79272437251481 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1348.593744150598, + -1946.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1345.9956679392446, + -1948.2112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1343.3975917278913, + -1949.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1340.799515516538, + -1951.2112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1338.2014393051845, + -1952.7112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1335.6033630938311, + -1954.2112063614106, + 53.79272437251481 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1335.6033630938311, + -1954.2112063614106, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1334.1033630938311, + -1956.809282572764, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1332.6033630938311, + -1959.4073587841174, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1331.1033630938311, + -1962.0054349954708, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1329.6033630938311, + -1964.6035112068241, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1328.1033630938311, + -1967.2015874181775, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1326.6033630938311, + -1969.7996636295309, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1325.1033630938311, + -1972.3977398408842, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1323.6033630938311, + -1974.9958160522376, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1322.1033630938311, + -1977.593892263591, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1320.6033630938311, + -1980.1919684749444, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1319.1033630938311, + -1982.7900446862977, + 53.79272437251481 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1317.6033630938311, + -1985.388120897651, + 53.79272437251481 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1320.0, + -2008.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-26-2_2014126950/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-26-2_2014126950/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b04e4e10edba173eb80b83b79a776dbc17d8b7c6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-26-2_2014126950/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2911.344492737372, + 2118.6068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2913.9425689487252, + 2117.1068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2916.5406451600784, + 2115.6068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2919.1387213714315, + 2114.1068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2921.7367975827847, + 2112.6068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2924.334873794138, + 2111.1068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2926.932950005491, + 2109.6068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2929.531026216844, + 2108.1068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2932.1291024281973, + 2106.6068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2934.7271786395504, + 2105.1068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2937.3252548509035, + 2103.6068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2939.9233310622567, + 2102.1068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2942.52140727361, + 2100.6068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2945.119483484963, + 2099.1068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2947.717559696316, + 2097.6068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2950.3156359076693, + 2096.1068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2952.9137121190224, + 2094.6068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2955.5117883303756, + 2093.1068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2958.1098645417287, + 2091.6068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2960.707940753082, + 2090.1068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2963.306016964435, + 2088.6068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2965.904093175788, + 2087.1068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2968.5021693871413, + 2085.6068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2971.1002455984944, + 2084.1068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2973.6983218098476, + 2082.6068762134746, + 45.6310366593038 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2973.6983218098476, + 2082.6068762134746, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2975.1983218098476, + 2080.0088000021215, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2976.6983218098476, + 2077.4107237907683, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2978.1983218098476, + 2074.812647579415, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2979.6983218098476, + 2072.214571368062, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2981.1983218098476, + 2069.616495156709, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2982.6983218098476, + 2067.0184189453557, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2984.1983218098476, + 2064.4203427340026, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2985.6983218098476, + 2061.8222665226494, + 45.6310366593038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2987.1983218098476, + 2059.2241903112963, + 45.6310366593038 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3012.0, + 2040.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-27-52_1189256387/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-27-52_1189256387/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a5c203d51ae3a24ae3aa1379f62355d263d17cf --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-27-52_1189256387/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1355.1750214745246, + 2461.0074549174283, + 56.484944628899896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1353.6750214745246, + 2458.409378706075, + 56.484944628899896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1352.1750214745246, + 2455.811302494722, + 56.484944628899896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1350.6750214745246, + 2453.213226283369, + 56.484944628899896 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1350.6750214745246, + 2453.213226283369, + 56.484944628899896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1348.0769452631712, + 2451.713226283369, + 56.484944628899896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1345.4788690518178, + 2450.213226283369, + 56.484944628899896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1342.8807928404644, + 2448.713226283369, + 56.484944628899896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1340.282716629111, + 2447.213226283369, + 56.484944628899896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1337.6846404177577, + 2445.713226283369, + 56.484944628899896 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1335.0865642064043, + 2444.213226283369, + 56.484944628899896 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1260.0, + 2372.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-3-48_1480832247/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-3-48_1480832247/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be6e1b14c5f9bb758bb4e85342c73e6eea7dc4fa --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-3-48_1480832247/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1679.7013201796199, + -2012.924259866008, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1681.2013201796199, + -2015.5223360773614, + 64.29890477617855 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1681.2013201796199, + -2015.5223360773614, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1683.7993963909732, + -2017.0223360773614, + 64.29890477617855 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1683.7993963909732, + -2017.0223360773614, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1685.2993963909732, + -2019.6204122887148, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1686.7993963909732, + -2022.2184885000681, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1688.2993963909732, + -2024.8165647114215, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1689.7993963909732, + -2027.4146409227749, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1691.2993963909732, + -2030.0127171341283, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1692.7993963909732, + -2032.6107933454816, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1694.2993963909732, + -2035.208869556835, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1695.7993963909732, + -2037.8069457681884, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1697.2993963909732, + -2040.4050219795417, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1698.7993963909732, + -2043.0030981908951, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1700.2993963909732, + -2045.6011744022485, + 64.29890477617855 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1700.2993963909732, + -2045.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1700.2993963909732, + -2048.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1700.2993963909732, + -2051.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1700.2993963909732, + -2054.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1700.2993963909732, + -2057.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1700.2993963909732, + -2060.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1700.2993963909732, + -2063.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1700.2993963909732, + -2066.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1700.2993963909732, + -2069.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1700.2993963909732, + -2072.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1700.2993963909732, + -2075.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1700.2993963909732, + -2078.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1700.2993963909732, + -2081.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1700.2993963909732, + -2084.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1700.2993963909732, + -2087.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1700.2993963909732, + -2090.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1700.2993963909732, + -2093.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1700.2993963909732, + -2096.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1700.2993963909732, + -2099.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1700.2993963909732, + -2102.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1700.2993963909732, + -2105.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1700.2993963909732, + -2108.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1700.2993963909732, + -2111.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1700.2993963909732, + -2114.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1700.2993963909732, + -2117.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1700.2993963909732, + -2120.6011744022485, + 64.29890477617855 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1700.2993963909732, + -2123.6011744022485, + 64.29890477617855 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1704.0, + -2144.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-30-38_881865366/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-30-38_881865366/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf31d59aed2d8d6f051071b5fe90c790f04ad484 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-30-38_881865366/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2347.874823902963, + 809.7447841509114, + 67.20407414491817 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2349.374823902963, + 807.1467079395582, + 67.20407414491817 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2350.874823902963, + 804.5486317282048, + 67.20407414491817 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2352.374823902963, + 801.9505555168514, + 67.20407414491817 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2353.874823902963, + 799.352479305498, + 67.20407414491817 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2355.374823902963, + 796.7544030941447, + 67.20407414491817 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2356.874823902963, + 794.1563268827913, + 67.20407414491817 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2358.374823902963, + 791.5582506714379, + 67.20407414491817 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2359.874823902963, + 788.9601744600845, + 67.20407414491817 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2361.374823902963, + 786.3620982487312, + 67.20407414491817 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2362.874823902963, + 783.7640220373778, + 67.20407414491817 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2364.374823902963, + 781.1659458260244, + 67.20407414491817 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2365.874823902963, + 778.567869614671, + 67.20407414491817 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2367.374823902963, + 775.9697934033177, + 67.20407414491817 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2368.874823902963, + 773.3717171919643, + 67.20407414491817 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2370.374823902963, + 770.7736409806109, + 67.20407414491817 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2371.874823902963, + 768.1755647692576, + 67.20407414491817 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2404.0, + 716.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-31-26_882263958/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-31-26_882263958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b15f4423d4b78db6ec24e06a8ef7e1765ecc32b --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-31-26_882263958/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 59.90171694518254, + -390.9963201126278, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 61.40171694518254, + -388.3982439012745, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 62.90171694518254, + -385.8001676899212, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 64.40171694518254, + -383.20209147856787, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 65.90171694518254, + -380.60401526721455, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 67.40171694518254, + -378.00593905586123, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 68.90171694518254, + -375.4078628445079, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 70.40171694518254, + -372.8097866331546, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 71.90171694518254, + -370.2117104218013, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 73.40171694518254, + -367.61363421044797, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 74.90171694518254, + -365.01555799909465, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 76.40171694518254, + -362.41748178774134, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 77.90171694518254, + -359.819405576388, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 79.40171694518254, + -357.2213293650347, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 80.90171694518254, + -354.6232531536814, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 82.40171694518254, + -352.0251769423281, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 83.90171694518254, + -349.42710073097476, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 85.40171694518254, + -346.82902451962144, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 86.90171694518254, + -344.2309483082681, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 88.40171694518254, + -341.6328720969148, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 89.90171694518254, + -339.0347958855615, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 91.40171694518254, + -336.4367196742082, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 92.90171694518254, + -333.83864346285486, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 94.40171694518254, + -331.24056725150155, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 95.90171694518254, + -328.64249104014823, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 97.40171694518254, + -326.0444148287949, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 98.90171694518254, + -323.4463386174416, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 100.40171694518254, + -320.8482624060883, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 101.90171694518254, + -318.25018619473497, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 103.40171694518254, + -315.65210998338165, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 104.90171694518254, + -313.05403377202833, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 106.40171694518254, + -310.455957560675, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 107.90171694518254, + -307.8578813493217, + 44.60134860033385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 109.40171694518254, + -305.2598051379684, + 44.60134860033385 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 136.0, + -264.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-32-48_1041655229/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-32-48_1041655229/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d6d270f4e3a935e4a44ab932b6e51243272b161 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-32-48_1041655229/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -947.1259114739645, + -1849.918694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -949.7239876853178, + -1848.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -952.3220638966711, + -1846.918694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -954.9201401080245, + -1845.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -957.5182163193779, + -1843.918694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -960.1162925307312, + -1842.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -962.7143687420846, + -1840.918694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -965.312444953438, + -1839.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -967.9105211647914, + -1837.918694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -970.5085973761447, + -1836.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -973.1066735874981, + -1834.918694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -975.7047497988515, + -1833.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -978.3028260102049, + -1831.918694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -980.9009022215582, + -1830.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -983.4989784329116, + -1828.918694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -986.097054644265, + -1827.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -988.6951308556183, + -1825.918694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -991.2932070669717, + -1824.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -993.8912832783251, + -1822.918694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -996.4893594896785, + -1821.418694077633, + 53.8475278201346 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -996.4893594896785, + -1821.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -999.4893594896785, + -1821.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1002.4893594896785, + -1821.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1005.4893594896785, + -1821.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1008.4893594896785, + -1821.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1011.4893594896785, + -1821.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1014.4893594896785, + -1821.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1017.4893594896785, + -1821.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1020.4893594896785, + -1821.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1023.4893594896785, + -1821.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1026.4893594896785, + -1821.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1029.4893594896785, + -1821.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1032.4893594896785, + -1821.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1035.4893594896785, + -1821.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1038.4893594896785, + -1821.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1041.4893594896785, + -1821.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1044.4893594896785, + -1821.418694077633, + 53.8475278201346 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1047.4893594896785, + -1821.418694077633, + 53.8475278201346 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1076.0, + -1812.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-33-27_728120804/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-33-27_728120804/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3841a777eef1668560c12b4733726aa694992c40 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-33-27_728120804/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1366.4597967057944, + 1566.4760528745092, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1367.9597967057944, + 1569.0741290858625, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1369.4597967057944, + 1571.672205297216, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1370.9597967057944, + 1574.2702815085693, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1372.4597967057944, + 1576.8683577199226, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1373.9597967057944, + 1579.466433931276, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1375.4597967057944, + 1582.0645101426294, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1376.9597967057944, + 1584.6625863539828, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1378.4597967057944, + 1587.2606625653361, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1379.9597967057944, + 1589.8587387766895, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1381.4597967057944, + 1592.4568149880429, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1382.9597967057944, + 1595.0548911993963, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1384.4597967057944, + 1597.6529674107496, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1385.9597967057944, + 1600.251043622103, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1387.4597967057944, + 1602.8491198334564, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1388.9597967057944, + 1605.4471960448097, + 49.643008464251345 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1388.9597967057944, + 1605.4471960448097, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1388.9597967057944, + 1608.4471960448097, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1388.9597967057944, + 1611.4471960448097, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1388.9597967057944, + 1614.4471960448097, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1388.9597967057944, + 1617.4471960448097, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1388.9597967057944, + 1620.4471960448097, + 49.643008464251345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1388.9597967057944, + 1623.4471960448097, + 49.643008464251345 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1404.0, + 1668.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-33-43_2032510512/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-33-43_2032510512/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7453027695c61fb610f10818eac45e4a0777d4cc --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-33-43_2032510512/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1087.0195143521428, + 1474.8731619195628, + 54.6478264470863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1090.0195143521428, + 1474.8731619195628, + 54.6478264470863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1093.0195143521428, + 1474.8731619195628, + 54.6478264470863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1096.0195143521428, + 1474.8731619195628, + 54.6478264470863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1099.0195143521428, + 1474.8731619195628, + 54.6478264470863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1102.0195143521428, + 1474.8731619195628, + 54.6478264470863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1105.0195143521428, + 1474.8731619195628, + 54.6478264470863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1108.0195143521428, + 1474.8731619195628, + 54.6478264470863 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1111.0195143521428, + 1474.8731619195628, + 54.6478264470863 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1111.0195143521428, + 1474.8731619195628, + 54.6478264470863 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1113.6175905634962, + 1473.3731619195628, + 54.6478264470863 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1116.2156667748495, + 1471.8731619195628, + 54.6478264470863 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1118.813742986203, + 1470.3731619195628, + 54.6478264470863 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1121.4118191975563, + 1468.8731619195628, + 54.6478264470863 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1124.0098954089096, + 1467.3731619195628, + 54.6478264470863 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1188.0, + 1452.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-37-1_214419677/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-37-1_214419677/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..57991b343d4c63c0fcbec245f17329e07a654bf7 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-37-1_214419677/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2506.0323051437513, + 720.0037415357004, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2504.5323051437513, + 722.6018177470537, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2503.0323051437513, + 725.1998939584071, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2501.5323051437513, + 727.7979701697604, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2500.0323051437513, + 730.3960463811138, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2498.5323051437513, + 732.9941225924672, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2497.0323051437513, + 735.5921988038206, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2495.5323051437513, + 738.1902750151739, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2494.0323051437513, + 740.7883512265273, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2492.5323051437513, + 743.3864274378807, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2491.0323051437513, + 745.9845036492341, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2489.5323051437513, + 748.5825798605874, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2488.0323051437513, + 751.1806560719408, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2486.5323051437513, + 753.7787322832942, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2485.0323051437513, + 756.3768084946475, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2483.5323051437513, + 758.9748847060009, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2482.0323051437513, + 761.5729609173543, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2480.5323051437513, + 764.1710371287077, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2479.0323051437513, + 766.769113340061, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2477.5323051437513, + 769.3671895514144, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2476.0323051437513, + 771.9652657627678, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2474.5323051437513, + 774.5633419741212, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2473.0323051437513, + 777.1614181854745, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2471.5323051437513, + 779.7594943968279, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2470.0323051437513, + 782.3575706081813, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2468.5323051437513, + 784.9556468195346, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2467.0323051437513, + 787.553723030888, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2465.5323051437513, + 790.1517992422414, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2464.0323051437513, + 792.7498754535948, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2462.5323051437513, + 795.3479516649481, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2461.0323051437513, + 797.9460278763015, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2459.5323051437513, + 800.5441040876549, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2458.0323051437513, + 803.1421802990083, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2456.5323051437513, + 805.7402565103616, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2455.0323051437513, + 808.338332721715, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2453.5323051437513, + 810.9364089330684, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2452.0323051437513, + 813.5344851444218, + 48.07870035027913 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -2452.0323051437513, + 813.5344851444218, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -2452.0323051437513, + 816.5344851444218, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -2452.0323051437513, + 819.5344851444218, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -2452.0323051437513, + 822.5344851444218, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2452.0323051437513, + 825.5344851444218, + 48.07870035027913 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -2452.0323051437513, + 828.5344851444218, + 48.07870035027913 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2444.0, + 848.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-37-57_1666992709/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-37-57_1666992709/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60e7e2a7ff20dc811ab7ae0bf62cc7881b882a8a --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-37-57_1666992709/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -499.157273084266, + -1935.720607952883, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -500.657273084266, + -1938.3186841642364, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -502.157273084266, + -1940.9167603755898, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -503.657273084266, + -1943.5148365869431, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -505.157273084266, + -1946.1129127982965, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -506.657273084266, + -1948.71098900965, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -508.157273084266, + -1951.3090652210033, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -509.657273084266, + -1953.9071414323566, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -511.157273084266, + -1956.50521764371, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -512.657273084266, + -1959.1032938550634, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931695 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -514.157273084266, + -1961.7013700664168, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -515.657273084266, + -1964.2994462777701, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -517.157273084266, + -1966.8975224891235, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -518.657273084266, + -1969.4955987004769, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -520.157273084266, + -1972.0936749118302, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -521.657273084266, + -1974.6917511231836, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -523.157273084266, + -1977.289827334537, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -524.657273084266, + -1979.8879035458904, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -526.157273084266, + -1982.4859797572437, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -527.657273084266, + -1985.084055968597, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -529.157273084266, + -1987.6821321799505, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -530.657273084266, + -1990.2802083913039, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -532.157273084266, + -1992.8782846026572, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -533.657273084266, + -1995.4763608140106, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -535.157273084266, + -1998.074437025364, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -536.657273084266, + -2000.6725132367174, + 65.20905290348689 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -536.657273084266, + -2000.6725132367174, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -536.657273084266, + -2003.6725132367174, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -536.657273084266, + -2006.6725132367174, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -536.657273084266, + -2009.6725132367174, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -536.657273084266, + -2012.6725132367174, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -536.657273084266, + -2015.6725132367174, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -536.657273084266, + -2018.6725132367174, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -536.657273084266, + -2021.6725132367174, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -536.657273084266, + -2024.6725132367174, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -536.657273084266, + -2027.6725132367174, + 65.20905290348689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -536.657273084266, + -2030.6725132367174, + 65.20905290348689 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -540.0, + -2044.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-4-11_652942916/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-4-11_652942916/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8d10c2e914902ee65f1d1544f5e96f8312326fd8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-4-11_652942916/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 704.6785270844467, + 210.94499723177927, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 706.1785270844467, + 213.54307344313258, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 707.6785270844467, + 216.1411496544859, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 709.1785270844467, + 218.73922586583922, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 710.6785270844467, + 221.33730207719253, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 712.1785270844467, + 223.93537828854585, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 713.6785270844467, + 226.53345449989916, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 715.1785270844467, + 229.13153071125248, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 716.6785270844467, + 231.7296069226058, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 718.1785270844467, + 234.3276831339591, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 719.6785270844467, + 236.92575934531243, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 721.1785270844467, + 239.52383555666574, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 722.6785270844467, + 242.12191176801906, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 724.1785270844467, + 244.71998797937238, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 725.6785270844467, + 247.3180641907257, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 727.1785270844467, + 249.916140402079, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 728.6785270844467, + 252.51421661343232, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 730.1785270844467, + 255.11229282478564, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 731.6785270844467, + 257.71036903613896, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 733.1785270844467, + 260.3084452474923, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 734.6785270844467, + 262.9065214588456, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 736.1785270844467, + 265.5045976701989, + 51.9330328854614 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 736.1785270844467, + 265.5045976701989, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 736.1785270844467, + 268.5045976701989, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 736.1785270844467, + 271.5045976701989, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 736.1785270844467, + 274.5045976701989, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 736.1785270844467, + 277.5045976701989, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 736.1785270844467, + 280.5045976701989, + 51.9330328854614 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 736.1785270844467, + 283.5045976701989, + 51.9330328854614 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 748.0, + 308.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-41-5_1453298941/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-41-5_1453298941/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f944116ae7c1ac8554b62ef62abe01c575a16795 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-41-5_1453298941/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3127.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3124.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3121.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3118.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3115.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3112.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3109.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3106.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3103.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3100.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3097.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3094.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3091.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3088.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3085.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3082.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3079.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3076.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3073.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3070.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3067.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3064.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3061.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3058.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3055.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3052.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3049.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3046.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3043.89970667683, + 1842.9267051596157, + 54.996917784606175 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3008.0, + 1844.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-45-35_1480032908/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-45-35_1480032908/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ba80bc52c08b68fc3297e13f3a2055d3e58168e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-45-35_1480032908/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4144.415680761875, + 1417.957745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4141.8176045505215, + 1416.457745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4139.219528339168, + 1414.957745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4136.621452127815, + 1413.457745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4134.023375916462, + 1411.957745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4131.425299705109, + 1410.457745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4128.827223493756, + 1408.957745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4126.229147282403, + 1407.457745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4123.6310710710495, + 1405.957745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4121.032994859696, + 1404.457745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4118.434918648343, + 1402.957745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4115.83684243699, + 1401.457745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4113.238766225637, + 1399.957745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4110.640690014284, + 1398.457745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4108.042613802931, + 1396.957745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4105.4445375915775, + 1395.457745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4102.846461380224, + 1393.957745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4100.248385168871, + 1392.457745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4097.650308957518, + 1390.957745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4095.052232746165, + 1389.457745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4092.4541565348118, + 1387.957745544584, + 48.5215790971475 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4092.4541565348118, + 1387.957745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4089.4541565348118, + 1387.957745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4086.4541565348118, + 1387.957745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4083.4541565348118, + 1387.957745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4080.4541565348118, + 1387.957745544584, + 48.5215790971475 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4077.4541565348118, + 1387.957745544584, + 48.5215790971475 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4048.0, + 1376.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-45-9_1176924347/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-45-9_1176924347/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6ac4dd42419b5fed831b78831abeea0aa9676db7 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-45-9_1176924347/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -727.5635888037438, + -2142.773376878222, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -727.5635888037438, + -2139.773376878222, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -727.5635888037438, + -2136.773376878222, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -727.5635888037438, + -2133.773376878222, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -727.5635888037438, + -2130.773376878222, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -727.5635888037438, + -2127.773376878222, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -727.5635888037438, + -2124.773376878222, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -727.5635888037438, + -2121.773376878222, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -727.5635888037438, + -2118.773376878222, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -727.5635888037438, + -2115.773376878222, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -727.5635888037438, + -2112.773376878222, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -727.5635888037438, + -2109.773376878222, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -727.5635888037438, + -2106.773376878222, + 43.25305152066399 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -727.5635888037438, + -2106.773376878222, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -729.0635888037438, + -2104.1753006668687, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -730.5635888037438, + -2101.5772244555155, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -732.0635888037438, + -2098.9791482441624, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -733.5635888037438, + -2096.3810720328092, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -735.0635888037438, + -2093.782995821456, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -736.5635888037438, + -2091.184919610103, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -738.0635888037438, + -2088.58684339875, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -739.5635888037438, + -2085.9887671873967, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -741.0635888037438, + -2083.3906909760435, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -742.5635888037438, + -2080.7926147646904, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -744.0635888037438, + -2078.194538553337, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -745.5635888037438, + -2075.596462341984, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -747.0635888037438, + -2072.998386130631, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -748.5635888037438, + -2070.400309919278, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -750.0635888037438, + -2067.8022337079246, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -751.5635888037438, + -2065.2041574965715, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -753.0635888037438, + -2062.6060812852184, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -754.5635888037438, + -2060.008005073865, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -756.0635888037438, + -2057.409928862512, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -757.5635888037438, + -2054.811852651159, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -759.0635888037438, + -2052.2137764398058, + 43.25305152066399 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -759.0635888037438, + -2052.2137764398058, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794925 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -759.0635888037438, + -2049.2137764398058, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -759.0635888037438, + -2046.2137764398058, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -759.0635888037438, + -2043.2137764398058, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -759.0635888037438, + -2040.2137764398058, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -759.0635888037438, + -2037.2137764398058, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -759.0635888037438, + -2034.2137764398058, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -759.0635888037438, + -2031.2137764398058, + 43.25305152066399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -759.0635888037438, + -2028.2137764398058, + 43.25305152066399 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -764.0, + -2004.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-47-12_543326572/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-47-12_543326572/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..936e3b630056df8cfd76fef8720f224b3907b557 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-47-12_543326572/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1629.4287214161095, + 124.20092718861102, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1627.9287214161095, + 126.79900339996433, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1626.4287214161095, + 129.39707961131765, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1624.9287214161095, + 131.99515582267097, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1623.4287214161095, + 134.59323203402428, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1621.9287214161095, + 137.1913082453776, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1620.4287214161095, + 139.78938445673091, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1618.9287214161095, + 142.38746066808423, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1617.4287214161095, + 144.98553687943755, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1615.9287214161095, + 147.58361309079086, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1614.4287214161095, + 150.18168930214418, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1612.9287214161095, + 152.7797655134975, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1611.4287214161095, + 155.3778417248508, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1609.9287214161095, + 157.97591793620413, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1608.4287214161095, + 160.57399414755744, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1606.9287214161095, + 163.17207035891076, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1605.4287214161095, + 165.77014657026407, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1603.9287214161095, + 168.3682227816174, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1602.4287214161095, + 170.9662989929707, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1600.9287214161095, + 173.56437520432402, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1599.4287214161095, + 176.16245141567734, + 69.40373983888544 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1599.4287214161095, + 176.16245141567734, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1596.8306452047561, + 177.66245141567734, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1594.2325689934028, + 179.16245141567734, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1591.6344927820494, + 180.66245141567734, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1589.036416570696, + 182.16245141567734, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1586.4383403593426, + 183.66245141567734, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1583.8402641479893, + 185.16245141567734, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1581.242187936636, + 186.66245141567734, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1578.6441117252825, + 188.16245141567734, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1576.0460355139292, + 189.66245141567734, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1573.4479593025758, + 191.16245141567734, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1570.8498830912224, + 192.66245141567734, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1568.251806879869, + 194.16245141567734, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1565.6537306685157, + 195.66245141567734, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1563.0556544571623, + 197.16245141567734, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1560.457578245809, + 198.66245141567734, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1557.8595020344555, + 200.16245141567734, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1555.2614258231022, + 201.66245141567734, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1552.6633496117488, + 203.16245141567734, + 69.40373983888544 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1552.6633496117488, + 203.16245141567734, + 69.40373983888544 + ], + "type": "turn left", + "value": 30, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1552.6633496117488, + 203.16245141567734, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794887 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1552.6633496117488, + 206.16245141567734, + 69.40373983888544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1552.6633496117488, + 209.16245141567734, + 69.40373983888544 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1536.0, + 228.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-47-38_1553746101/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-47-38_1553746101/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d2d9fcb5da98ca5d99f2b7bf68a940d07924d5d9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-47-38_1553746101/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1103.817231537225, + 1328.9382239129745, + 65.2655310991005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1102.317231537225, + 1331.536300124328, + 65.2655310991005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1100.817231537225, + 1334.1343763356813, + 65.2655310991005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1099.317231537225, + 1336.7324525470347, + 65.2655310991005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1097.817231537225, + 1339.330528758388, + 65.2655310991005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1096.317231537225, + 1341.9286049697414, + 65.2655310991005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1094.817231537225, + 1344.5266811810948, + 65.2655310991005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1093.317231537225, + 1347.1247573924481, + 65.2655310991005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1091.817231537225, + 1349.7228336038015, + 65.2655310991005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1090.317231537225, + 1352.320909815155, + 65.2655310991005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1088.817231537225, + 1354.9189860265083, + 65.2655310991005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1087.317231537225, + 1357.5170622378616, + 65.2655310991005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1085.817231537225, + 1360.115138449215, + 65.2655310991005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1084.317231537225, + 1362.7132146605684, + 65.2655310991005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1082.817231537225, + 1365.3112908719218, + 65.2655310991005 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1082.817231537225, + 1365.3112908719218, + 65.2655310991005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1080.2191553258717, + 1366.8112908719218, + 65.2655310991005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1077.6210791145184, + 1368.3112908719218, + 65.2655310991005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1075.023002903165, + 1369.8112908719218, + 65.2655310991005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1072.4249266918116, + 1371.3112908719218, + 65.2655310991005 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1040.0, + 1412.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-5-22_1539847451/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-5-22_1539847451/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b0b1a510d73b1d624b5f9bd48932829b18fbf589 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-5-22_1539847451/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1315.5622001285722, + 128.48690312149628, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1315.5622001285722, + 131.48690312149628, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1315.5622001285722, + 134.48690312149628, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1315.5622001285722, + 137.48690312149628, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1315.5622001285722, + 140.48690312149628, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1315.5622001285722, + 143.48690312149628, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1315.5622001285722, + 146.48690312149628, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1315.5622001285722, + 149.48690312149628, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1315.5622001285722, + 152.48690312149628, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1315.5622001285722, + 155.48690312149628, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1315.5622001285722, + 158.48690312149628, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1315.5622001285722, + 161.48690312149628, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1315.5622001285722, + 164.48690312149628, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1315.5622001285722, + 167.48690312149628, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1315.5622001285722, + 170.48690312149628, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1315.5622001285722, + 173.48690312149628, + 47.34455082438735 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1315.5622001285722, + 173.48690312149628, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1317.0622001285722, + 176.0849793328496, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1318.5622001285722, + 178.68305554420292, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1320.0622001285722, + 181.28113175555623, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1321.5622001285722, + 183.87920796690955, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1323.0622001285722, + 186.47728417826286, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1324.5622001285722, + 189.07536038961618, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1326.0622001285722, + 191.6734366009695, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1327.5622001285722, + 194.2715128123228, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1329.0622001285722, + 196.86958902367613, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1330.5622001285722, + 199.46766523502944, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1332.0622001285722, + 202.06574144638276, + 47.34455082438735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1333.5622001285722, + 204.66381765773608, + 47.34455082438735 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1340.0, + 232.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-52-33_345705290/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-52-33_345705290/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..779dccacc40a77e24707ca90dec68adcda296b7c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-52-33_345705290/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1494.8646448833892, + -773.4105169569737, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1496.3646448833892, + -770.8124407456203, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1497.8646448833892, + -768.2143645342669, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1499.3646448833892, + -765.6162883229135, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1500.8646448833892, + -763.0182121115602, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1502.3646448833892, + -760.4201359002068, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1503.8646448833892, + -757.8220596888534, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1505.3646448833892, + -755.2239834775, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1506.8646448833892, + -752.6259072661467, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1508.3646448833892, + -750.0278310547933, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1509.8646448833892, + -747.4297548434399, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1511.3646448833892, + -744.8316786320866, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1512.8646448833892, + -742.2336024207332, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1514.3646448833892, + -739.6355262093798, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1515.8646448833892, + -737.0374499980264, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1517.3646448833892, + -734.4393737866731, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1518.8646448833892, + -731.8412975753197, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1520.3646448833892, + -729.2432213639663, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1521.8646448833892, + -726.6451451526129, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1523.3646448833892, + -724.0470689412596, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1524.8646448833892, + -721.4489927299062, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1526.3646448833892, + -718.8509165185528, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1527.8646448833892, + -716.2528403071994, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1529.3646448833892, + -713.6547640958461, + 41.413711184870046 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1529.3646448833892, + -713.6547640958461, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1529.3646448833892, + -710.6547640958461, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1529.3646448833892, + -707.6547640958461, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1529.3646448833892, + -704.6547640958461, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1529.3646448833892, + -701.6547640958461, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1529.3646448833892, + -698.6547640958461, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1529.3646448833892, + -695.6547640958461, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1529.3646448833892, + -692.6547640958461, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1529.3646448833892, + -689.6547640958461, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1529.3646448833892, + -686.6547640958461, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1529.3646448833892, + -683.6547640958461, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1529.3646448833892, + -680.6547640958461, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1529.3646448833892, + -677.6547640958461, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1529.3646448833892, + -674.6547640958461, + 41.413711184870046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1529.3646448833892, + -671.6547640958461, + 41.413711184870046 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1540.0, + -640.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-52-8_2123801655/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-52-8_2123801655/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb3a76f207db4ba7999096c202a726280188986c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-52-8_2123801655/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2629.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2626.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2623.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2620.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2617.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2614.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2611.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2608.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2605.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2602.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2599.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2596.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2593.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2590.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2587.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2584.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2581.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2578.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2575.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2572.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2569.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2566.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2566.6710139419165, + 1992.0144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2564.0729377305634, + 1990.5144699242144, + 58.33343677904913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2561.47486151921, + 1989.0144699242144, + 58.33343677904913 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2504.0, + 1984.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-53-19_1591644042/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-53-19_1591644042/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f9370827e1cdb4153d733a9db08483b76028bd8 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-53-19_1591644042/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -968.3963925439565, + -2463.4404125321853, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -966.8963925439565, + -2460.842336320832, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -965.3963925439565, + -2458.244260109479, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -963.8963925439565, + -2455.646183898126, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -962.3963925439565, + -2453.0481076867727, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -960.8963925439565, + -2450.4500314754196, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -959.3963925439565, + -2447.8519552640664, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -957.8963925439565, + -2445.2538790527133, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -956.3963925439565, + -2442.65580284136, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -954.8963925439565, + -2440.057726630007, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -953.3963925439565, + -2437.459650418654, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -951.8963925439565, + -2434.8615742073007, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -950.3963925439565, + -2432.2634979959475, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -948.8963925439565, + -2429.6654217845944, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -947.3963925439565, + -2427.0673455732413, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -945.8963925439565, + -2424.469269361888, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -944.3963925439565, + -2421.871193150535, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -942.8963925439565, + -2419.273116939182, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -941.3963925439565, + -2416.6750407278287, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -939.8963925439565, + -2414.0769645164755, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -938.3963925439565, + -2411.4788883051224, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -936.8963925439565, + -2408.8808120937692, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -935.3963925439565, + -2406.282735882416, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -933.8963925439565, + -2403.684659671063, + 66.78018316836774 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -933.8963925439565, + -2403.684659671063, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948681 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -933.8963925439565, + -2400.684659671063, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -933.8963925439565, + -2397.684659671063, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -933.8963925439565, + -2394.684659671063, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -933.8963925439565, + -2391.684659671063, + 66.78018316836774 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -933.8963925439565, + -2388.684659671063, + 66.78018316836774 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -924.0, + -2364.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-57-38_598845591/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-57-38_598845591/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..738f5b7cfc0eb424caa9654ef92c1b393474fb46 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-57-38_598845591/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3948.73857202474, + 1715.6524786040582, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3950.23857202474, + 1713.0544023927048, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3951.73857202474, + 1710.4563261813514, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3953.23857202474, + 1707.858249969998, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3954.73857202474, + 1705.2601737586447, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3956.23857202474, + 1702.6620975472913, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3957.73857202474, + 1700.064021335938, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3959.23857202474, + 1697.4659451245846, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3960.73857202474, + 1694.8678689132312, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3962.23857202474, + 1692.2697927018778, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3963.73857202474, + 1689.6717164905244, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3965.23857202474, + 1687.073640279171, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3966.73857202474, + 1684.4755640678177, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3968.23857202474, + 1681.8774878564643, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3969.73857202474, + 1679.279411645111, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3971.23857202474, + 1676.6813354337576, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3972.73857202474, + 1674.0832592224042, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3974.23857202474, + 1671.4851830110508, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3975.73857202474, + 1668.8871067996974, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3977.23857202474, + 1666.289030588344, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3978.73857202474, + 1663.6909543769907, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3980.23857202474, + 1661.0928781656373, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3981.73857202474, + 1658.494801954284, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3983.23857202474, + 1655.8967257429306, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3984.73857202474, + 1653.2986495315772, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3986.23857202474, + 1650.7005733202238, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3987.73857202474, + 1648.1024971088705, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3989.23857202474, + 1645.504420897517, + 54.313237875269984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3990.73857202474, + 1642.9063446861637, + 54.313237875269984 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4000.0, + 1624.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-59-16_1698636143/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-59-16_1698636143/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9efb99054aa1208b23f4bb2f75b4e77ba4d81533 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-59-16_1698636143/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2996.6333694287027, + -2115.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2993.6333694287027, + -2115.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2990.6333694287027, + -2115.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2987.6333694287027, + -2115.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2984.6333694287027, + -2115.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2981.6333694287027, + -2115.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2978.6333694287027, + -2115.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2975.6333694287027, + -2115.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2972.6333694287027, + -2115.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2969.6333694287027, + -2115.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2966.6333694287027, + -2115.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2963.6333694287027, + -2115.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2960.6333694287027, + -2115.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2957.6333694287027, + -2115.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2954.6333694287027, + -2115.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2951.6333694287027, + -2115.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2948.6333694287027, + -2115.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2945.6333694287027, + -2115.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2942.6333694287027, + -2115.592762354314, + 47.9568839342139 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2942.6333694287027, + -2115.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2940.0352932173496, + -2114.092762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2937.4372170059964, + -2112.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2934.8391407946433, + -2111.092762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2932.24106458329, + -2109.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2929.642988371937, + -2108.092762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2927.044912160584, + -2106.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2924.4468359492307, + -2105.092762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2921.8487597378776, + -2103.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2919.2506835265244, + -2102.092762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2916.6526073151713, + -2100.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2914.054531103818, + -2099.092762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2911.456454892465, + -2097.592762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2908.858378681112, + -2096.092762354314, + 47.9568839342139 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2906.2603024697587, + -2094.592762354314, + 47.9568839342139 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2860.0, + -2080.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-59-36_339193736/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-59-36_339193736/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..75d200780f6236ab60ddfb546c5a89c6f5934933 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-59-36_339193736/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -452.83468963515406, + -1957.2752342467872, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -454.33468963515406, + -1959.8733104581406, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -455.83468963515406, + -1962.471386669494, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -457.33468963515406, + -1965.0694628808474, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -458.83468963515406, + -1967.6675390922007, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -460.33468963515406, + -1970.2656153035541, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -461.83468963515406, + -1972.8636915149075, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -463.33468963515406, + -1975.4617677262609, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -464.83468963515406, + -1978.0598439376142, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -466.33468963515406, + -1980.6579201489676, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -467.83468963515406, + -1983.255996360321, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -469.33468963515406, + -1985.8540725716744, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -470.83468963515406, + -1988.4521487830277, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -472.33468963515406, + -1991.050224994381, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -473.83468963515406, + -1993.6483012057345, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -475.33468963515406, + -1996.2463774170878, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -476.83468963515406, + -1998.8444536284412, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -478.33468963515406, + -2001.4425298397946, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -479.83468963515406, + -2004.040606051148, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -481.33468963515406, + -2006.6386822625013, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -482.83468963515406, + -2009.2367584738547, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -484.33468963515406, + -2011.834834685208, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -485.83468963515406, + -2014.4329108965615, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -487.33468963515406, + -2017.0309871079148, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -488.83468963515406, + -2019.6290633192682, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -490.33468963515406, + -2022.2271395306216, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -491.83468963515406, + -2024.825215741975, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -493.33468963515406, + -2027.4232919533283, + 55.72446422642449 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -493.33468963515406, + -2027.4232919533283, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -493.33468963515406, + -2030.4232919533283, + 55.72446422642449 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -493.33468963515406, + -2033.4232919533283, + 55.72446422642449 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -500.0, + -2048.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-7-39_1331601568/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-7-39_1331601568/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..73136638fb8a2a0afe6f361c0f0bdb3df16280b4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_7-7-39_1331601568/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2440.2842566664413, + 1682.5102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2442.8823328777944, + 1681.0102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2445.4804090891475, + 1679.5102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2448.0784853005007, + 1678.0102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2450.676561511854, + 1676.5102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2453.274637723207, + 1675.0102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2455.87271393456, + 1673.5102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2458.4707901459133, + 1672.0102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2461.0688663572664, + 1670.5102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2463.6669425686196, + 1669.0102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2466.2650187799727, + 1667.5102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2468.863094991326, + 1666.0102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2471.461171202679, + 1664.5102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2474.059247414032, + 1663.0102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2476.6573236253853, + 1661.5102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2479.2553998367384, + 1660.0102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2481.8534760480916, + 1658.5102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2484.4515522594447, + 1657.0102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2487.049628470798, + 1655.5102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2489.647704682151, + 1654.0102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2492.245780893504, + 1652.5102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2494.8438571048573, + 1651.0102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2497.4419333162105, + 1649.5102057382392, + 43.23645722498398 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2497.4419333162105, + 1649.5102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2500.4419333162105, + 1649.5102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2503.4419333162105, + 1649.5102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2506.4419333162105, + 1649.5102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2509.4419333162105, + 1649.5102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2512.4419333162105, + 1649.5102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2515.4419333162105, + 1649.5102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2518.4419333162105, + 1649.5102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2521.4419333162105, + 1649.5102057382392, + 43.23645722498398 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2524.4419333162105, + 1649.5102057382392, + 43.23645722498398 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2564.0, + 1636.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-11-57_460467935/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-11-57_460467935/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c95fda9cca9740fa9900907c50851db117689691 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-11-57_460467935/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -816.2905295151152, + 322.47097463644525, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -817.7905295151152, + 319.87289842509193, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -819.2905295151152, + 317.2748222137386, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -820.7905295151152, + 314.6767460023853, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -822.2905295151152, + 312.078669791032, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -823.7905295151152, + 309.48059357967867, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -825.2905295151152, + 306.88251736832535, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -826.7905295151152, + 304.28444115697204, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -828.2905295151152, + 301.6863649456187, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -829.7905295151152, + 299.0882887342654, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -831.2905295151152, + 296.4902125229121, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -832.7905295151152, + 293.8921363115588, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -834.2905295151152, + 291.29406010020546, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -835.7905295151152, + 288.69598388885214, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -837.2905295151152, + 286.0979076774988, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -838.7905295151152, + 283.4998314661455, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -840.2905295151152, + 280.9017552547922, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -841.7905295151152, + 278.3036790434389, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -843.2905295151152, + 275.70560283208556, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -844.7905295151152, + 273.10752662073224, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -846.2905295151152, + 270.5094504093789, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -847.7905295151152, + 267.9113741980256, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -849.2905295151152, + 265.3132979866723, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -850.7905295151152, + 262.715221775319, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -852.2905295151152, + 260.11714556396566, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -853.7905295151152, + 257.51906935261235, + 55.63775203043018 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -853.7905295151152, + 257.51906935261235, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -853.7905295151152, + 254.51906935261235, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -853.7905295151152, + 251.51906935261235, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -853.7905295151152, + 248.51906935261235, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -853.7905295151152, + 245.51906935261235, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -853.7905295151152, + 242.51906935261235, + 55.63775203043018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -853.7905295151152, + 239.51906935261235, + 55.63775203043018 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -860.0, + 224.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-13-22_1069142334/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-13-22_1069142334/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3be8e928ec7d96532d96e7a1de6107549f9eacea --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-13-22_1069142334/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2871.7337265907026, + 2207.6842916788596, + 45.05488805778613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2874.7337265907026, + 2207.6842916788596, + 45.05488805778613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2877.7337265907026, + 2207.6842916788596, + 45.05488805778613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2880.7337265907026, + 2207.6842916788596, + 45.05488805778613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2883.7337265907026, + 2207.6842916788596, + 45.05488805778613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2886.7337265907026, + 2207.6842916788596, + 45.05488805778613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2889.7337265907026, + 2207.6842916788596, + 45.05488805778613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2892.7337265907026, + 2207.6842916788596, + 45.05488805778613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2895.7337265907026, + 2207.6842916788596, + 45.05488805778613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2898.7337265907026, + 2207.6842916788596, + 45.05488805778613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2901.7337265907026, + 2207.6842916788596, + 45.05488805778613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2904.7337265907026, + 2207.6842916788596, + 45.05488805778613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2907.7337265907026, + 2207.6842916788596, + 45.05488805778613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2910.7337265907026, + 2207.6842916788596, + 45.05488805778613 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2910.7337265907026, + 2207.6842916788596, + 45.05488805778613 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2913.331802802056, + 2206.1842916788596, + 45.05488805778613 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2915.929879013409, + 2204.6842916788596, + 45.05488805778613 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2918.527955224762, + 2203.1842916788596, + 45.05488805778613 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2921.126031436115, + 2201.6842916788596, + 45.05488805778613 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2923.7241076474684, + 2200.1842916788596, + 45.05488805778613 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2926.3221838588215, + 2198.6842916788596, + 45.05488805778613 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2976.0, + 2188.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-13-36_1644817046/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-13-36_1644817046/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a62039d03808bd28fa54dc776bfc08c6cc9d0121 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-13-36_1644817046/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1909.2380815423503, + -1857.2075674393607, + 61.689721845254034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1909.2380815423503, + -1854.2075674393607, + 61.689721845254034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1909.2380815423503, + -1851.2075674393607, + 61.689721845254034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1909.2380815423503, + -1848.2075674393607, + 61.689721845254034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1909.2380815423503, + -1845.2075674393607, + 61.689721845254034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1909.2380815423503, + -1842.2075674393607, + 61.689721845254034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1909.2380815423503, + -1839.2075674393607, + 61.689721845254034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1909.2380815423503, + -1836.2075674393607, + 61.689721845254034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1909.2380815423503, + -1833.2075674393607, + 61.689721845254034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1909.2380815423503, + -1830.2075674393607, + 61.689721845254034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1909.2380815423503, + -1827.2075674393607, + 61.689721845254034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1909.2380815423503, + -1824.2075674393607, + 61.689721845254034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1909.2380815423503, + -1821.2075674393607, + 61.689721845254034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1909.2380815423503, + -1818.2075674393607, + 61.689721845254034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1909.2380815423503, + -1815.2075674393607, + 61.689721845254034 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1909.2380815423503, + -1815.2075674393607, + 61.689721845254034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1910.7380815423503, + -1812.6094912280073, + 61.689721845254034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1912.2380815423503, + -1810.011415016654, + 61.689721845254034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1913.7380815423503, + -1807.4133388053006, + 61.689721845254034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1915.2380815423503, + -1804.8152625939472, + 61.689721845254034 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1924.0, + -1744.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-13-59_1154499430/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-13-59_1154499430/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e2fe092995c8c797d7658d14b24d4a955b4c2edc --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-13-59_1154499430/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 458.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 455.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 452.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 449.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 446.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 443.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 440.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 437.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 434.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 431.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 428.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 425.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 422.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 419.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 416.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 413.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 410.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 407.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 404.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 401.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 398.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 395.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 392.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 392.8740820181881, + -2384.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 390.2760058068348, + -2382.8647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 387.6779295954815, + -2381.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 385.07985338412817, + -2379.8647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 382.48177717277485, + -2378.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 379.88370096142154, + -2376.8647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 377.2856247500682, + -2375.3647645359924, + 46.173448203055436 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 374.6875485387149, + -2373.8647645359924, + 46.173448203055436 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 328.0, + -2372.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-17-31_516677340/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-17-31_516677340/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..68632ae8f22abb149caf6701e01926fa4319d2f2 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-17-31_516677340/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2741.8684468286256, + 1494.4779694010504, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2744.8684468286256, + 1494.4779694010504, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2747.8684468286256, + 1494.4779694010504, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2750.8684468286256, + 1494.4779694010504, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2753.8684468286256, + 1494.4779694010504, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2756.8684468286256, + 1494.4779694010504, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2759.8684468286256, + 1494.4779694010504, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2762.8684468286256, + 1494.4779694010504, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2765.8684468286256, + 1494.4779694010504, + 68.19063020621765 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2765.8684468286256, + 1494.4779694010504, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2768.4665230399787, + 1492.9779694010504, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2771.064599251332, + 1491.4779694010504, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2773.662675462685, + 1489.9779694010504, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2776.260751674038, + 1488.4779694010504, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2778.8588278853913, + 1486.9779694010504, + 68.19063020621765 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2778.8588278853913, + 1486.9779694010504, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2780.3588278853913, + 1484.379893189697, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2781.8588278853913, + 1481.7818169783436, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2783.3588278853913, + 1479.1837407669902, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2784.8588278853913, + 1476.5856645556369, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2786.3588278853913, + 1473.9875883442835, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2787.8588278853913, + 1471.3895121329301, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2789.3588278853913, + 1468.7914359215767, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2790.8588278853913, + 1466.1933597102234, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2792.3588278853913, + 1463.59528349887, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2793.8588278853913, + 1460.9972072875166, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2795.3588278853913, + 1458.3991310761633, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2796.8588278853913, + 1455.8010548648099, + 68.19063020621765 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2796.8588278853913, + 1455.8010548648099, + 68.19063020621765 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2799.4569040967444, + 1454.3010548648099, + 68.19063020621765 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2832.0, + 1432.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-18-51_41268864/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-18-51_41268864/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be2a5a83b4ae8adc87dae23f7329bd0d549e55b3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-18-51_41268864/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1246.685993422559, + -2478.65650809267, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1245.185993422559, + -2476.0584318813167, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1243.685993422559, + -2473.4603556699635, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1242.185993422559, + -2470.8622794586104, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1240.685993422559, + -2468.2642032472572, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1239.185993422559, + -2465.666127035904, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1237.685993422559, + -2463.068050824551, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1236.185993422559, + -2460.469974613198, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1234.685993422559, + -2457.8718984018446, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1233.185993422559, + -2455.2738221904915, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1231.685993422559, + -2452.6757459791384, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1230.185993422559, + -2450.077669767785, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1228.685993422559, + -2447.479593556432, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1227.185993422559, + -2444.881517345079, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1225.685993422559, + -2442.283441133726, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1224.185993422559, + -2439.6853649223726, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1222.685993422559, + -2437.0872887110195, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1221.185993422559, + -2434.4892124996663, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1219.685993422559, + -2431.891136288313, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1218.185993422559, + -2429.29306007696, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1216.685993422559, + -2426.694983865607, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1215.185993422559, + -2424.0969076542538, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1213.685993422559, + -2421.4988314429006, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1212.185993422559, + -2418.9007552315475, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1210.685993422559, + -2416.3026790201943, + 45.80458991333249 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1210.685993422559, + -2416.3026790201943, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948681 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1210.685993422559, + -2413.3026790201943, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1210.685993422559, + -2410.3026790201943, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1210.685993422559, + -2407.3026790201943, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1210.685993422559, + -2404.3026790201943, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1210.685993422559, + -2401.3026790201943, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1210.685993422559, + -2398.3026790201943, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1210.685993422559, + -2395.3026790201943, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1210.685993422559, + -2392.3026790201943, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1210.685993422559, + -2389.3026790201943, + 45.80458991333249 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1210.685993422559, + -2386.3026790201943, + 45.80458991333249 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1200.0, + -2360.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-2-43_148472296/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-2-43_148472296/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e44d79e43afbab15dd287f019905f8a3d8303613 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-2-43_148472296/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1887.2655760904256, + 1497.0313658637635, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1884.6674998790722, + 1495.5313658637635, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1882.0694236677189, + 1494.0313658637635, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1879.4713474563655, + 1492.5313658637635, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1876.8732712450121, + 1491.0313658637635, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1874.2751950336587, + 1489.5313658637635, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1871.6771188223054, + 1488.0313658637635, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1869.079042610952, + 1486.5313658637635, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1866.4809663995986, + 1485.0313658637635, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1863.8828901882453, + 1483.5313658637635, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1861.2848139768919, + 1482.0313658637635, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1858.6867377655385, + 1480.5313658637635, + 42.70305491892007 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1858.6867377655385, + 1480.5313658637635, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1855.6867377655385, + 1480.5313658637635, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1852.6867377655385, + 1480.5313658637635, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1849.6867377655385, + 1480.5313658637635, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1846.6867377655385, + 1480.5313658637635, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1843.6867377655385, + 1480.5313658637635, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1840.6867377655385, + 1480.5313658637635, + 42.70305491892007 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1840.6867377655385, + 1480.5313658637635, + 42.70305491892007 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1840.6867377655385, + 1480.5313658637635, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1839.1867377655385, + 1477.9332896524102, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1837.6867377655385, + 1475.3352134410568, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1836.1867377655385, + 1472.7371372297034, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1834.6867377655385, + 1470.13906101835, + 42.70305491892007 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1833.1867377655385, + 1467.5409848069967, + 42.70305491892007 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1792.0, + 1448.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-24-25_1987489992/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-24-25_1987489992/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c8470df265300a7103aae59875fc36b4e87dcac --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-24-25_1987489992/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2955.8580857114334, + 1302.094637360942, + 69.4126924322555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2958.4561619227866, + 1300.594637360942, + 69.4126924322555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2961.0542381341397, + 1299.094637360942, + 69.4126924322555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2963.652314345493, + 1297.594637360942, + 69.4126924322555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2966.250390556846, + 1296.094637360942, + 69.4126924322555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2968.848466768199, + 1294.594637360942, + 69.4126924322555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2971.4465429795523, + 1293.094637360942, + 69.4126924322555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2974.0446191909055, + 1291.594637360942, + 69.4126924322555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2976.6426954022586, + 1290.094637360942, + 69.4126924322555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2979.2407716136117, + 1288.594637360942, + 69.4126924322555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2981.838847824965, + 1287.094637360942, + 69.4126924322555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2984.436924036318, + 1285.594637360942, + 69.4126924322555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2987.035000247671, + 1284.094637360942, + 69.4126924322555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2989.6330764590243, + 1282.594637360942, + 69.4126924322555 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2989.6330764590243, + 1282.594637360942, + 69.4126924322555 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2992.6330764590243, + 1282.594637360942, + 69.4126924322555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2995.6330764590243, + 1282.594637360942, + 69.4126924322555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2998.6330764590243, + 1282.594637360942, + 69.4126924322555 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -3064.0, + 1256.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-25-2_973365509/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-25-2_973365509/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d798edadcca1d16b6826cb6a7e80aad1bbc67a97 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-25-2_973365509/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2110.6835841036636, + -2897.4751804302887, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2109.1835841036636, + -2900.073256641642, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2107.6835841036636, + -2902.671332852995, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2106.1835841036636, + -2905.269409064348, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2104.6835841036636, + -2907.8674852757013, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2103.1835841036636, + -2910.4655614870544, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2101.6835841036636, + -2913.0636376984075, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2100.1835841036636, + -2915.6617139097607, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2098.6835841036636, + -2918.259790121114, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2097.1835841036636, + -2920.857866332467, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2095.6835841036636, + -2923.45594254382, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2094.1835841036636, + -2926.0540187551733, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2092.6835841036636, + -2928.6520949665264, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2091.1835841036636, + -2931.2501711778796, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2089.6835841036636, + -2933.8482473892327, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2088.1835841036636, + -2936.446323600586, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2086.6835841036636, + -2939.044399811939, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2085.1835841036636, + -2941.642476023292, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2083.6835841036636, + -2944.2405522346453, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2082.1835841036636, + -2946.8386284459984, + 69.43524916480082 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2082.1835841036636, + -2946.8386284459984, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2079.5855078923105, + -2948.3386284459984, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2076.9874316809573, + -2949.8386284459984, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2074.389355469604, + -2951.3386284459984, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2071.791279258251, + -2952.8386284459984, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2069.193203046898, + -2954.3386284459984, + 69.43524916480082 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2066.5951268355448, + -2955.8386284459984, + 69.43524916480082 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2048.0, + -2984.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-26-45_1306766083/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-26-45_1306766083/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc57cc00846f9c25c0225b612c4ac7bcb665a04d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-26-45_1306766083/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2970.547483564126, + 1825.9985437406497, + 50.635403153064004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2969.047483564126, + 1828.596619952003, + 50.635403153064004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2969.047483564126, + 1828.596619952003, + 50.635403153064004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2969.047483564126, + 1831.596619952003, + 50.635403153064004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2969.047483564126, + 1834.596619952003, + 50.635403153064004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2969.047483564126, + 1837.596619952003, + 50.635403153064004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2969.047483564126, + 1840.596619952003, + 50.635403153064004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2969.047483564126, + 1843.596619952003, + 50.635403153064004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2969.047483564126, + 1846.596619952003, + 50.635403153064004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2969.047483564126, + 1849.596619952003, + 50.635403153064004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2969.047483564126, + 1852.596619952003, + 50.635403153064004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2969.047483564126, + 1855.596619952003, + 50.635403153064004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2969.047483564126, + 1855.596619952003, + 50.635403153064004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2969.047483564126, + 1855.596619952003, + 50.635403153064004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2966.449407352773, + 1857.096619952003, + 50.635403153064004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2963.85133114142, + 1858.596619952003, + 50.635403153064004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2963.85133114142, + 1858.596619952003, + 50.635403153064004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196626 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2962.35133114142, + 1861.1946961633564, + 50.635403153064004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2960.85133114142, + 1863.7927723747098, + 50.635403153064004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2959.35133114142, + 1866.3908485860632, + 50.635403153064004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2957.85133114142, + 1868.9889247974165, + 50.635403153064004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2956.35133114142, + 1871.58700100877, + 50.635403153064004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2928.0, + 1964.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-27-57_175324309/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-27-57_175324309/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d6d8f3363db4da06da280e525992dc46d55d602 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-27-57_175324309/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1337.0194437204425, + 2495.163957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1334.4213675090891, + 2493.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1331.8232912977358, + 2492.163957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1329.2252150863824, + 2490.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1326.627138875029, + 2489.163957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1324.0290626636756, + 2487.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1321.4309864523223, + 2486.163957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1318.8329102409689, + 2484.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1316.2348340296155, + 2483.163957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1313.6367578182621, + 2481.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1311.0386816069088, + 2480.163957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1308.4406053955554, + 2478.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1305.842529184202, + 2477.163957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1303.2444529728486, + 2475.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1300.6463767614953, + 2474.163957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1298.048300550142, + 2472.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1295.4502243387885, + 2471.163957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1292.8521481274352, + 2469.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1290.2540719160818, + 2468.163957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1287.6559957047284, + 2466.663957874403, + 46.361443400343745 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1287.6559957047284, + 2466.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1284.6559957047284, + 2466.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1281.6559957047284, + 2466.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1278.6559957047284, + 2466.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1275.6559957047284, + 2466.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1272.6559957047284, + 2466.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1269.6559957047284, + 2466.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1266.6559957047284, + 2466.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1263.6559957047284, + 2466.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1260.6559957047284, + 2466.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1257.6559957047284, + 2466.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1254.6559957047284, + 2466.663957874403, + 46.361443400343745 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1251.6559957047284, + 2466.663957874403, + 46.361443400343745 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1220.0, + 2456.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-3-21_1186241694/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-3-21_1186241694/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2bc27304cae5ff0ee6ddcaaa140ddf3ed8fabe62 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-3-21_1186241694/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 69.81067470793869, + 1249.000695916064, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 72.81067470793869, + 1249.000695916064, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 75.81067470793869, + 1249.000695916064, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 78.81067470793869, + 1249.000695916064, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 81.81067470793869, + 1249.000695916064, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 84.81067470793869, + 1249.000695916064, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 87.81067470793869, + 1249.000695916064, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 90.81067470793869, + 1249.000695916064, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 93.81067470793869, + 1249.000695916064, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 96.81067470793869, + 1249.000695916064, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 99.81067470793869, + 1249.000695916064, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 102.81067470793869, + 1249.000695916064, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 105.81067470793869, + 1249.000695916064, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 108.81067470793869, + 1249.000695916064, + 43.43925820907635 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 108.81067470793869, + 1249.000695916064, + 43.43925820907635 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 108.81067470793869, + 1249.000695916064, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 110.31067470793869, + 1246.4026197047106, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 111.81067470793869, + 1243.8045434933572, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 113.31067470793869, + 1241.2064672820038, + 43.43925820907635 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 113.31067470793869, + 1241.2064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 115.908750919292, + 1239.7064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 118.50682713064532, + 1238.2064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 121.10490334199864, + 1236.7064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 123.70297955335195, + 1235.2064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 126.30105576470527, + 1233.7064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 128.89913197605858, + 1232.2064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 131.4972081874119, + 1230.7064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 134.09528439876522, + 1229.2064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 136.69336061011853, + 1227.7064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 139.29143682147185, + 1226.2064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 141.88951303282516, + 1224.7064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 144.48758924417848, + 1223.2064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 147.0856654555318, + 1221.7064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 149.6837416668851, + 1220.2064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 152.28181787823843, + 1218.7064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 154.87989408959174, + 1217.2064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 157.47797030094506, + 1215.7064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 160.07604651229838, + 1214.2064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 162.6741227236517, + 1212.7064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 165.272198935005, + 1211.2064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 167.87027514635832, + 1209.7064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 170.46835135771164, + 1208.2064672820038, + 43.43925820907635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 173.06642756906496, + 1206.7064672820038, + 43.43925820907635 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 188.0, + 1200.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-3-2_2049488897/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-3-2_2049488897/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20a34800fba04245eb98f5924a72419c3677e4ab --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-3-2_2049488897/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3448.7974010421494, + -716.5117975882196, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3451.3954772535026, + -718.0117975882196, + 67.04523791266787 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3451.3954772535026, + -718.0117975882196, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3452.8954772535026, + -720.6098737995728, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3454.3954772535026, + -723.2079500109262, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3455.8954772535026, + -725.8060262222796, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3457.3954772535026, + -728.4041024336329, + 67.04523791266787 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3457.3954772535026, + -728.4041024336329, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3459.9935534648557, + -729.9041024336329, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3462.591629676209, + -731.4041024336329, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3465.189705887562, + -732.9041024336329, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3467.787782098915, + -734.4041024336329, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3470.3858583102683, + -735.9041024336329, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3472.9839345216214, + -737.4041024336329, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3475.5820107329746, + -738.9041024336329, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3478.1800869443277, + -740.4041024336329, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3480.778163155681, + -741.9041024336329, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3483.376239367034, + -743.4041024336329, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3485.974315578387, + -744.9041024336329, + 67.04523791266787 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3485.974315578387, + -744.9041024336329, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3488.974315578387, + -744.9041024336329, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3491.974315578387, + -744.9041024336329, + 67.04523791266787 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3491.974315578387, + -744.9041024336329, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3494.5723917897403, + -746.4041024336329, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3497.1704680010935, + -747.9041024336329, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3499.7685442124466, + -749.4041024336329, + 67.04523791266787 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3499.7685442124466, + -749.4041024336329, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196626 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3501.2685442124466, + -752.0021786449863, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3502.7685442124466, + -754.6002548563397, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3504.2685442124466, + -757.1983310676931, + 67.04523791266787 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3505.7685442124466, + -759.7964072790464, + 67.04523791266787 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3540.0, + -784.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-32-30_1956428651/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-32-30_1956428651/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..946928edd0640ff7bcaf59fc16560fde56f5e7c3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-32-30_1956428651/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 33.62391518640664, + -2177.1941945533044, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 32.12391518640664, + -2179.7922707646576, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 30.62391518640664, + -2182.3903469760107, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 29.12391518640664, + -2184.988423187364, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 27.62391518640664, + -2187.586499398717, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 26.12391518640664, + -2190.18457561007, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 24.62391518640664, + -2192.7826518214233, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 23.12391518640664, + -2195.3807280327765, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 21.62391518640664, + -2197.9788042441296, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 20.12391518640664, + -2200.5768804554828, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 18.62391518640664, + -2203.174956666836, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 17.12391518640664, + -2205.773032878189, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 15.623915186406641, + -2208.371109089542, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 14.123915186406641, + -2210.9691853008953, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 12.623915186406641, + -2213.5672615122485, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 11.123915186406641, + -2216.1653377236016, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 9.623915186406641, + -2218.7634139349548, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 8.123915186406641, + -2221.361490146308, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 6.623915186406642, + -2223.959566357661, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 5.123915186406643, + -2226.557642569014, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3.623915186406644, + -2229.1557187803674, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2.123915186406645, + -2231.7537949917205, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 0.6239151864066457, + -2234.3518712030736, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -0.8760848135933537, + -2236.949947414427, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2.376084813593353, + -2239.54802362578, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -3.8760848135933523, + -2242.146099837133, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -5.376084813593351, + -2244.744176048486, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -6.8760848135933506, + -2247.3422522598394, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -8.37608481359335, + -2249.9403284711925, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -9.87608481359335, + -2252.5384046825457, + 60.87262402492112 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -9.87608481359335, + -2252.5384046825457, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -9.87608481359335, + -2255.5384046825457, + 60.87262402492112 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -9.87608481359335, + -2258.5384046825457, + 60.87262402492112 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -16.0, + -2272.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-34-26_869940457/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-34-26_869940457/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5762cc4ee01ee7e99199033961e0602ef154383c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-34-26_869940457/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3957.406678356426, + 930.6941090629114, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3955.906678356426, + 928.096032851558, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3954.406678356426, + 925.4979566402046, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3952.906678356426, + 922.8998804288512, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3951.406678356426, + 920.3018042174979, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3949.906678356426, + 917.7037280061445, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3948.406678356426, + 915.1056517947911, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3946.906678356426, + 912.5075755834378, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3945.406678356426, + 909.9094993720844, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3943.906678356426, + 907.311423160731, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3942.406678356426, + 904.7133469493776, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3940.906678356426, + 902.1152707380243, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3939.406678356426, + 899.5171945266709, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3937.906678356426, + 896.9191183153175, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3936.406678356426, + 894.3210421039641, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3934.906678356426, + 891.7229658926108, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3933.406678356426, + 889.1248896812574, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3931.906678356426, + 886.526813469904, + 60.5397041868833 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3931.906678356426, + 886.526813469904, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3929.3086021450727, + 885.026813469904, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3926.7105259337195, + 883.526813469904, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3924.1124497223664, + 882.026813469904, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3921.514373511013, + 880.526813469904, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3918.91629729966, + 879.026813469904, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3916.318221088307, + 877.526813469904, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3913.720144876954, + 876.026813469904, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3911.1220686656006, + 874.526813469904, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3908.5239924542475, + 873.026813469904, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3905.9259162428943, + 871.526813469904, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3903.327840031541, + 870.026813469904, + 60.5397041868833 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3903.327840031541, + 870.026813469904, + 60.5397041868833 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3903.327840031541, + 870.026813469904, + 60.5397041868833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948684 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3903.327840031541, + 867.026813469904, + 60.5397041868833 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948684 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3884.0, + 844.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-38-10_563436826/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-38-10_563436826/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..554d8a8ce817a69814489035d4ccc496baf022c7 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-38-10_563436826/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1053.4306260979215, + 326.79040897394594, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1056.0287023092749, + 325.29040897394594, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1058.6267785206282, + 323.79040897394594, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1061.2248547319816, + 322.29040897394594, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1063.822930943335, + 320.79040897394594, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1066.4210071546884, + 319.29040897394594, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1069.0190833660417, + 317.79040897394594, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1071.6171595773951, + 316.29040897394594, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1074.2152357887485, + 314.79040897394594, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1076.8133120001019, + 313.29040897394594, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1079.4113882114552, + 311.79040897394594, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1082.0094644228086, + 310.29040897394594, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1084.607540634162, + 308.79040897394594, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1087.2056168455154, + 307.29040897394594, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1089.8036930568687, + 305.79040897394594, + 56.360101281469895 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1089.8036930568687, + 305.79040897394594, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1091.3036930568687, + 303.1923327625926, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1092.8036930568687, + 300.5942565512393, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1094.3036930568687, + 297.996180339886, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1095.8036930568687, + 295.3981041285327, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1097.3036930568687, + 292.80002791717936, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1098.8036930568687, + 290.20195170582605, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1100.3036930568687, + 287.60387549447273, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1101.8036930568687, + 285.0057992831194, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1103.3036930568687, + 282.4077230717661, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1104.8036930568687, + 279.8096468604128, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1106.3036930568687, + 277.21157064905947, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1107.8036930568687, + 274.61349443770615, + 56.360101281469895 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1109.3036930568687, + 272.01541822635284, + 56.360101281469895 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1128.0, + 256.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-39-45_91119157/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-39-45_91119157/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b9dc64c8f448aa24f420b4710ef88eca786c9ec0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-39-45_91119157/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1095.7025407011236, + -1711.2814199489617, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1095.7025407011236, + -1714.2814199489617, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1095.7025407011236, + -1717.2814199489617, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1095.7025407011236, + -1720.2814199489617, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1095.7025407011236, + -1723.2814199489617, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1095.7025407011236, + -1726.2814199489617, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1095.7025407011236, + -1729.2814199489617, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1095.7025407011236, + -1732.2814199489617, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1095.7025407011236, + -1735.2814199489617, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1095.7025407011236, + -1738.2814199489617, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1095.7025407011236, + -1741.2814199489617, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1095.7025407011236, + -1744.2814199489617, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1095.7025407011236, + -1747.2814199489617, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1095.7025407011236, + -1750.2814199489617, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1095.7025407011236, + -1753.2814199489617, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1095.7025407011236, + -1756.2814199489617, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1095.7025407011236, + -1759.2814199489617, + 55.66859730944222 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1095.7025407011236, + -1759.2814199489617, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1097.2025407011236, + -1761.879496160315, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1098.7025407011236, + -1764.4775723716684, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1100.2025407011236, + -1767.0756485830218, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1101.7025407011236, + -1769.6737247943752, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1103.2025407011236, + -1772.2718010057285, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1104.7025407011236, + -1774.869877217082, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1106.2025407011236, + -1777.4679534284353, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1107.7025407011236, + -1780.0660296397887, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1109.2025407011236, + -1782.664105851142, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1110.7025407011236, + -1785.2621820624954, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1112.2025407011236, + -1787.8602582738488, + 55.66859730944222 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1112.2025407011236, + -1787.8602582738488, + 55.66859730944222 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1112.2025407011236, + -1790.8602582738488, + 55.66859730944222 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948872 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1116.0, + -1812.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-4-5_1493649292/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-4-5_1493649292/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e4da8f48a719c772f983414a897da491d494bca6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-4-5_1493649292/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2015.5763503193232, + -90.97326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2012.9782741079698, + -92.47326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2010.3801978966164, + -93.97326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2007.782121685263, + -95.47326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2005.1840454739097, + -96.97326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2002.5859692625563, + -98.47326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1999.987893051203, + -99.97326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1997.3898168398496, + -101.47326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1994.7917406284962, + -102.97326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1992.1936644171428, + -104.47326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1989.5955882057895, + -105.97326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1986.997511994436, + -107.47326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1984.3994357830827, + -108.97326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1981.8013595717293, + -110.47326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1979.203283360376, + -111.97326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1976.6052071490226, + -113.47326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1974.0071309376692, + -114.97326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1971.4090547263158, + -116.47326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1968.8109785149625, + -117.97326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1966.212902303609, + -119.47326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1963.6148260922557, + -120.97326699615326, + 47.44366077980773 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1963.6148260922557, + -120.97326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1960.6148260922557, + -120.97326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1957.6148260922557, + -120.97326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1954.6148260922557, + -120.97326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1951.6148260922557, + -120.97326699615326, + 47.44366077980773 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1948.6148260922557, + -120.97326699615326, + 47.44366077980773 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1924.0, + -132.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-42-59_1202969762/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-42-59_1202969762/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6ba04e6e6c291f267254e52957122795eb0a5ec9 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-42-59_1202969762/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4922.054557731187, + 1886.574515076664, + 61.806431649359354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4919.456481519834, + 1885.074515076664, + 61.806431649359354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4916.8584053084805, + 1883.574515076664, + 61.806431649359354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4914.260329097127, + 1882.074515076664, + 61.806431649359354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4911.662252885774, + 1880.574515076664, + 61.806431649359354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4909.064176674421, + 1879.074515076664, + 61.806431649359354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4906.466100463068, + 1877.574515076664, + 61.806431649359354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4903.868024251715, + 1876.074515076664, + 61.806431649359354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4901.269948040362, + 1874.574515076664, + 61.806431649359354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4898.6718718290085, + 1873.074515076664, + 61.806431649359354 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4898.6718718290085, + 1873.074515076664, + 61.806431649359354 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4895.6718718290085, + 1873.074515076664, + 61.806431649359354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4892.6718718290085, + 1873.074515076664, + 61.806431649359354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4889.6718718290085, + 1873.074515076664, + 61.806431649359354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4886.6718718290085, + 1873.074515076664, + 61.806431649359354 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4788.0, + 1844.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-44-41_1925203165/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-44-41_1925203165/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b1d7c94a0a1e4aa6c22e62679f6c85c5378241ce --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-44-41_1925203165/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -122.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -119.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -116.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -113.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -110.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -107.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -104.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -101.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -98.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -95.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -92.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -89.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -86.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -83.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -80.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -77.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -74.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -71.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -68.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -65.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -62.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -59.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -56.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -53.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -50.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -47.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -44.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -41.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -38.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -35.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -35.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -35.16187291344744, + -54.88337233697475, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -33.66187291344744, + -57.48144854832807, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -32.16187291344744, + -60.079524759681384, + 40.91562209865711 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -32.16187291344744, + -60.079524759681384, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -29.563796702094123, + -61.579524759681384, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -26.965720490740807, + -63.079524759681384, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -24.36764427938749, + -64.57952475968138, + 40.91562209865711 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982968 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -24.36764427938749, + -64.57952475968138, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 1.9984014443252818e-15 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -21.36764427938749, + -64.57952475968138, + 40.91562209865711 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -18.36764427938749, + -64.57952475968138, + 40.91562209865711 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 8.0, + -68.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-45-44_904930058/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-45-44_904930058/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da099b7f8ccf4e0214ccec8287923da07c2f0005 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-45-44_904930058/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3116.654656553625, + 1772.87784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3114.056580342272, + 1774.37784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3111.4585041309188, + 1775.87784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3108.8604279195656, + 1777.37784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3106.2623517082125, + 1778.87784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3103.6642754968593, + 1780.37784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3101.066199285506, + 1781.87784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3098.468123074153, + 1783.37784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3095.8700468628, + 1784.87784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3093.2719706514467, + 1786.37784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3090.6738944400936, + 1787.87784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3088.0758182287404, + 1789.37784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3085.4777420173873, + 1790.87784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3082.879665806034, + 1792.37784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3080.281589594681, + 1793.87784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3077.683513383328, + 1795.37784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3075.0854371719747, + 1796.87784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3072.4873609606216, + 1798.37784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3069.8892847492684, + 1799.87784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3067.2912085379153, + 1801.37784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3064.693132326562, + 1802.87784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3062.095056115209, + 1804.37784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3059.496979903856, + 1805.87784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3056.8989036925027, + 1807.37784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3054.3008274811496, + 1808.87784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3051.7027512697964, + 1810.37784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3049.1046750584433, + 1811.87784771331, + 66.04268356128259 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3049.1046750584433, + 1811.87784771331, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3047.6046750584433, + 1814.4759239246634, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3046.1046750584433, + 1817.0740001360168, + 66.04268356128259 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3044.6046750584433, + 1819.6720763473702, + 66.04268356128259 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3008.0, + 1844.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-48-43_1974423328/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-48-43_1974423328/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..558d011adaec945167494748233454e7664f326c --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-48-43_1974423328/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -180.6414518675765, + -1780.3325168229358, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -179.1414518675765, + -1782.9305930342891, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -177.6414518675765, + -1785.5286692456425, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -176.1414518675765, + -1788.1267454569959, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -174.6414518675765, + -1790.7248216683493, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -173.1414518675765, + -1793.3228978797026, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -171.6414518675765, + -1795.920974091056, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -170.1414518675765, + -1798.5190503024094, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -168.6414518675765, + -1801.1171265137627, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -167.1414518675765, + -1803.7152027251161, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -165.6414518675765, + -1806.3132789364695, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -164.1414518675765, + -1808.9113551478229, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -162.6414518675765, + -1811.5094313591762, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -161.1414518675765, + -1814.1075075705296, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -159.6414518675765, + -1816.705583781883, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -158.1414518675765, + -1819.3036599932364, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -156.6414518675765, + -1821.9017362045897, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -155.1414518675765, + -1824.499812415943, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -153.6414518675765, + -1827.0978886272965, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -152.1414518675765, + -1829.6959648386498, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -150.6414518675765, + -1832.2940410500032, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -149.1414518675765, + -1834.8921172613566, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -147.6414518675765, + -1837.49019347271, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -146.1414518675765, + -1840.0882696840633, + 44.400853773742135 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -146.1414518675765, + -1840.0882696840633, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -146.1414518675765, + -1843.0882696840633, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -146.1414518675765, + -1846.0882696840633, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -146.1414518675765, + -1849.0882696840633, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -146.1414518675765, + -1852.0882696840633, + 44.400853773742135 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -146.1414518675765, + -1852.0882696840633, + 44.400853773742135 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -146.1414518675765, + -1852.0882696840633, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -143.5433756562232, + -1853.5882696840633, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -140.94529944486987, + -1855.0882696840633, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -138.34722323351656, + -1856.5882696840633, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -135.74914702216324, + -1858.0882696840633, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -133.15107081080993, + -1859.5882696840633, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -130.5529945994566, + -1861.0882696840633, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -127.9549183881033, + -1862.5882696840633, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -125.35684217674998, + -1864.0882696840633, + 44.400853773742135 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -125.35684217674998, + -1864.0882696840633, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -122.35684217674998, + -1864.0882696840633, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -119.35684217674998, + -1864.0882696840633, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -116.35684217674998, + -1864.0882696840633, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -113.35684217674998, + -1864.0882696840633, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -110.35684217674998, + -1864.0882696840633, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -107.35684217674998, + -1864.0882696840633, + 44.400853773742135 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -107.35684217674998, + -1864.0882696840633, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -104.75876596539666, + -1865.5882696840633, + 44.400853773742135 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -102.16068975404335, + -1867.0882696840633, + 44.400853773742135 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -84.0, + -1888.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-5-4_396926156/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-5-4_396926156/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1dd8986327d4ecac20c40f95ebcff08489663ecb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-5-4_396926156/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4208.399219151472, + 150.09773520632785, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4208.399219151472, + 153.09773520632785, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4208.399219151472, + 156.09773520632785, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4208.399219151472, + 159.09773520632785, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4208.399219151472, + 162.09773520632785, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4208.399219151472, + 165.09773520632785, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4208.399219151472, + 168.09773520632785, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4208.399219151472, + 171.09773520632785, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4208.399219151472, + 174.09773520632785, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4208.399219151472, + 177.09773520632785, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4208.399219151472, + 180.09773520632785, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4208.399219151472, + 183.09773520632785, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4208.399219151472, + 186.09773520632785, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4208.399219151472, + 189.09773520632785, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4208.399219151472, + 192.09773520632785, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4208.399219151472, + 195.09773520632785, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4208.399219151472, + 198.09773520632785, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4208.399219151472, + 201.09773520632785, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4208.399219151472, + 204.09773520632785, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4208.399219151472, + 207.09773520632785, + 56.4074252837416 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4208.399219151472, + 207.09773520632785, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4209.899219151472, + 209.69581141768117, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4211.399219151472, + 212.2938876290345, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4212.899219151472, + 214.8919638403878, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4214.399219151472, + 217.49004005174112, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4215.899219151472, + 220.08811626309443, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4217.399219151472, + 222.68619247444775, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4218.899219151472, + 225.28426868580107, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4220.399219151472, + 227.88234489715438, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4221.899219151472, + 230.4804211085077, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4223.399219151472, + 233.07849731986101, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4224.899219151472, + 235.67657353121433, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4226.399219151472, + 238.27464974256765, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4227.899219151472, + 240.87272595392096, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4229.399219151472, + 243.47080216527428, + 56.4074252837416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4230.899219151472, + 246.0688783766276, + 56.4074252837416 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4236.0, + 276.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-53-5_2098579958/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-53-5_2098579958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4cba8f38ff4009f6bb3587412174923637ab6ab --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-53-5_2098579958/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -101.77985943938901, + -2272.3788436566556, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -99.1817832280357, + -2270.8788436566556, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -96.58370701668238, + -2269.3788436566556, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -93.98563080532907, + -2267.8788436566556, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -91.38755459397575, + -2266.3788436566556, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -88.78947838262243, + -2264.8788436566556, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -86.19140217126912, + -2263.3788436566556, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -83.5933259599158, + -2261.8788436566556, + 54.13967737334701 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -83.5933259599158, + -2261.8788436566556, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -82.0933259599158, + -2259.2807674453024, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -80.5933259599158, + -2256.6826912339493, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -79.0933259599158, + -2254.084615022596, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -77.5933259599158, + -2251.486538811243, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -76.0933259599158, + -2248.88846259989, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -74.5933259599158, + -2246.2903863885367, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -73.0933259599158, + -2243.6923101771836, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -71.5933259599158, + -2241.0942339658304, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -70.0933259599158, + -2238.4961577544773, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -68.5933259599158, + -2235.898081543124, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -67.0933259599158, + -2233.300005331771, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -65.5933259599158, + -2230.701929120418, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -64.0933259599158, + -2228.1038529090647, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -62.5933259599158, + -2225.5057766977116, + 54.13967737334701 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -62.5933259599158, + -2225.5057766977116, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948681 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -62.5933259599158, + -2222.5057766977116, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -62.5933259599158, + -2219.5057766977116, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -62.5933259599158, + -2216.5057766977116, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -62.5933259599158, + -2213.5057766977116, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -62.5933259599158, + -2210.5057766977116, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -62.5933259599158, + -2207.5057766977116, + 54.13967737334701 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -62.5933259599158, + -2204.5057766977116, + 54.13967737334701 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -48.0, + -2180.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-54-54_838733761/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-54-54_838733761/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..728a6820e6fb30a2e138a0129dc02215069f4d34 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-54-54_838733761/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 202.1060410170665, + -2186.988923812047, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 200.6060410170665, + -2184.3908476006936, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 199.1060410170665, + -2181.7927713893405, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 197.6060410170665, + -2179.1946951779873, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 196.1060410170665, + -2176.596618966634, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 194.6060410170665, + -2173.998542755281, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 193.1060410170665, + -2171.400466543928, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 191.6060410170665, + -2168.8023903325748, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 190.1060410170665, + -2166.2043141212216, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 188.6060410170665, + -2163.6062379098685, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 187.1060410170665, + -2161.0081616985153, + 57.2419085840077 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 187.1060410170665, + -2161.0081616985153, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 184.5079648057132, + -2159.5081616985153, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 181.90988859435987, + -2158.0081616985153, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 179.31181238300655, + -2156.5081616985153, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 176.71373617165324, + -2155.0081616985153, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 174.11565996029992, + -2153.5081616985153, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 171.5175837489466, + -2152.0081616985153, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 168.9195075375933, + -2150.5081616985153, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 166.32143132623997, + -2149.0081616985153, + 57.2419085840077 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 166.32143132623997, + -2149.0081616985153, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 163.32143132623997, + -2149.0081616985153, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 160.32143132623997, + -2149.0081616985153, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 157.32143132623997, + -2149.0081616985153, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 154.32143132623997, + -2149.0081616985153, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 151.32143132623997, + -2149.0081616985153, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 148.32143132623997, + -2149.0081616985153, + 57.2419085840077 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 148.32143132623997, + -2149.0081616985153, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 145.72335511488666, + -2147.5081616985153, + 57.2419085840077 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 145.72335511488666, + -2147.5081616985153, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 144.22335511488666, + -2144.910085487162, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 142.72335511488666, + -2142.312009275809, + 57.2419085840077 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 142.72335511488666, + -2142.312009275809, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794925 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 142.72335511488666, + -2139.312009275809, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 142.72335511488666, + -2136.312009275809, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 142.72335511488666, + -2133.312009275809, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 142.72335511488666, + -2130.312009275809, + 57.2419085840077 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 142.72335511488666, + -2130.312009275809, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 144.22335511488666, + -2127.713933064456, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 145.72335511488666, + -2125.1158568531027, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 147.22335511488666, + -2122.5177806417496, + 57.2419085840077 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 147.22335511488666, + -2122.5177806417496, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948681 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 147.22335511488666, + -2119.5177806417496, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 147.22335511488666, + -2116.5177806417496, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 147.22335511488666, + -2113.5177806417496, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 147.22335511488666, + -2110.5177806417496, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 147.22335511488666, + -2107.5177806417496, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 147.22335511488666, + -2104.5177806417496, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 147.22335511488666, + -2101.5177806417496, + 57.2419085840077 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 147.22335511488666, + -2101.5177806417496, + 57.2419085840077 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 147.22335511488666, + -2101.5177806417496, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 144.62527890353334, + -2100.0177806417496, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 142.02720269218003, + -2098.5177806417496, + 57.2419085840077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 139.4291264808267, + -2097.0177806417496, + 57.2419085840077 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 124.0, + -2072.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-6-22_708436665/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-6-22_708436665/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87e64cb39a7a93a9975efa52e78184f74d5a24b0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-6-22_708436665/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4857.352546390111, + 733.6877900211578, + 54.64374519228503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4854.352546390111, + 733.6877900211578, + 54.64374519228503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4851.352546390111, + 733.6877900211578, + 54.64374519228503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4848.352546390111, + 733.6877900211578, + 54.64374519228503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4845.352546390111, + 733.6877900211578, + 54.64374519228503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4842.352546390111, + 733.6877900211578, + 54.64374519228503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4839.352546390111, + 733.6877900211578, + 54.64374519228503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4836.352546390111, + 733.6877900211578, + 54.64374519228503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4833.352546390111, + 733.6877900211578, + 54.64374519228503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4830.352546390111, + 733.6877900211578, + 54.64374519228503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4827.352546390111, + 733.6877900211578, + 54.64374519228503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4824.352546390111, + 733.6877900211578, + 54.64374519228503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4821.352546390111, + 733.6877900211578, + 54.64374519228503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4818.352546390111, + 733.6877900211578, + 54.64374519228503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4815.352546390111, + 733.6877900211578, + 54.64374519228503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4812.352546390111, + 733.6877900211578, + 54.64374519228503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4809.352546390111, + 733.6877900211578, + 54.64374519228503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4806.352546390111, + 733.6877900211578, + 54.64374519228503 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4806.352546390111, + 733.6877900211578, + 54.64374519228503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4803.754470178757, + 732.1877900211578, + 54.64374519228503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4801.156393967404, + 730.6877900211578, + 54.64374519228503 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4756.0, + 724.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-6-57_532646386/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-6-57_532646386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a81c1869f6101aff65ee2d21de8439db3c155f3f --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_8-6-57_532646386/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4552.444575650283, + 2441.312115140852, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4553.944575650283, + 2438.7140389294987, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4555.444575650283, + 2436.1159627181455, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4556.944575650283, + 2433.5178865067924, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4558.444575650283, + 2430.919810295439, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4559.944575650283, + 2428.321734084086, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4561.444575650283, + 2425.723657872733, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4562.944575650283, + 2423.12558166138, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4564.444575650283, + 2420.5275054500266, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4565.944575650283, + 2417.9294292386735, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4567.444575650283, + 2415.3313530273203, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4568.944575650283, + 2412.733276815967, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4570.444575650283, + 2410.135200604614, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4571.944575650283, + 2407.537124393261, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4573.444575650283, + 2404.9390481819078, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4574.944575650283, + 2402.3409719705546, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4576.444575650283, + 2399.7428957592015, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4577.944575650283, + 2397.1448195478483, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4579.444575650283, + 2394.546743336495, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4580.944575650283, + 2391.948667125142, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4582.444575650283, + 2389.350590913789, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4583.944575650283, + 2386.7525147024357, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4585.444575650283, + 2384.1544384910826, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4586.944575650283, + 2381.5563622797295, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4588.444575650283, + 2378.9582860683763, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4589.944575650283, + 2376.360209857023, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4591.444575650283, + 2373.76213364567, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4592.944575650283, + 2371.164057434317, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4594.444575650283, + 2368.5659812229637, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4595.944575650283, + 2365.9679050116106, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4597.444575650283, + 2363.3698288002574, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 4598.944575650283, + 2360.7717525889043, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 4600.444575650283, + 2358.173676377551, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4601.944575650283, + 2355.575600166198, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 4603.444575650283, + 2352.977523954845, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 4604.944575650283, + 2350.3794477434917, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4606.444575650283, + 2347.7813715321386, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 4607.944575650283, + 2345.1832953207854, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 4609.444575650283, + 2342.5852191094323, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 4610.944575650283, + 2339.987142898079, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 4612.444575650283, + 2337.389066686726, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 4613.944575650283, + 2334.790990475373, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 4615.444575650283, + 2332.1929142640197, + 45.48360403638337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 4616.944575650283, + 2329.5948380526665, + 45.48360403638337 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4624.0, + 2312.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-1-30_111166929/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-1-30_111166929/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ea8728b8ce6ba72beff0b3197594ad0b0286b154 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-1-30_111166929/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 208.61128636365237, + -1681.4273939979762, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 211.61128636365237, + -1681.4273939979762, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 214.61128636365237, + -1681.4273939979762, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 217.61128636365237, + -1681.4273939979762, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 220.61128636365237, + -1681.4273939979762, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 223.61128636365237, + -1681.4273939979762, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 226.61128636365237, + -1681.4273939979762, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 229.61128636365237, + -1681.4273939979762, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 232.61128636365237, + -1681.4273939979762, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 235.61128636365237, + -1681.4273939979762, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 238.61128636365237, + -1681.4273939979762, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 241.61128636365237, + -1681.4273939979762, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 244.61128636365237, + -1681.4273939979762, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 247.61128636365237, + -1681.4273939979762, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 250.61128636365237, + -1681.4273939979762, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 253.61128636365237, + -1681.4273939979762, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 256.61128636365237, + -1681.4273939979762, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 259.61128636365237, + -1681.4273939979762, + 60.74748697405393 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 259.61128636365237, + -1681.4273939979762, + 60.74748697405393 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 259.61128636365237, + -1681.4273939979762, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 261.11128636365237, + -1684.0254702093296, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 262.61128636365237, + -1686.623546420683, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 264.11128636365237, + -1689.2216226320363, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 265.61128636365237, + -1691.8196988433897, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 267.11128636365237, + -1694.417775054743, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 268.61128636365237, + -1697.0158512660964, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 270.11128636365237, + -1699.6139274774498, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 271.61128636365237, + -1702.2120036888032, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 273.11128636365237, + -1704.8100799001566, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 274.61128636365237, + -1707.40815611151, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 276.11128636365237, + -1710.0062323228633, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 277.61128636365237, + -1712.6043085342167, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 279.11128636365237, + -1715.20238474557, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 280.61128636365237, + -1717.8004609569234, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 282.11128636365237, + -1720.3985371682768, + 60.74748697405393 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 282.11128636365237, + -1720.3985371682768, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 282.11128636365237, + -1723.3985371682768, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 282.11128636365237, + -1726.3985371682768, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 282.11128636365237, + -1729.3985371682768, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 282.11128636365237, + -1732.3985371682768, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 282.11128636365237, + -1735.3985371682768, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 282.11128636365237, + -1738.3985371682768, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 282.11128636365237, + -1741.3985371682768, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 282.11128636365237, + -1744.3985371682768, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 282.11128636365237, + -1747.3985371682768, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 282.11128636365237, + -1750.3985371682768, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 282.11128636365237, + -1753.3985371682768, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 282.11128636365237, + -1756.3985371682768, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 282.11128636365237, + -1759.3985371682768, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 282.11128636365237, + -1762.3985371682768, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 282.11128636365237, + -1765.3985371682768, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 282.11128636365237, + -1768.3985371682768, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 282.11128636365237, + -1771.3985371682768, + 60.74748697405393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 282.11128636365237, + -1774.3985371682768, + 60.74748697405393 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 300.0, + -1796.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-10-38_2093882409/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-10-38_2093882409/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..85bb29e8e1e35cb8b3ee30084edf49fc68c3c7cb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-10-38_2093882409/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 161.0424252389954, + 1987.919168011954, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 161.0424252389954, + 1984.919168011954, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 161.0424252389954, + 1981.919168011954, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 161.0424252389954, + 1978.919168011954, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 161.0424252389954, + 1975.919168011954, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 161.0424252389954, + 1972.919168011954, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 161.0424252389954, + 1969.919168011954, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 161.0424252389954, + 1966.919168011954, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 161.0424252389954, + 1963.919168011954, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 161.0424252389954, + 1960.919168011954, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 161.0424252389954, + 1957.919168011954, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 161.0424252389954, + 1954.919168011954, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 161.0424252389954, + 1951.919168011954, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 161.0424252389954, + 1948.919168011954, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 161.0424252389954, + 1945.919168011954, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 161.0424252389954, + 1942.919168011954, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 161.0424252389954, + 1939.919168011954, + 56.358689315500456 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 161.0424252389954, + 1939.919168011954, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 162.5424252389954, + 1937.3210918006007, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 164.0424252389954, + 1934.7230155892473, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 165.5424252389954, + 1932.124939377894, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 167.0424252389954, + 1929.5268631665406, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 168.5424252389954, + 1926.9287869551872, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 170.0424252389954, + 1924.3307107438338, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 171.5424252389954, + 1921.7326345324805, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 173.0424252389954, + 1919.134558321127, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 174.5424252389954, + 1916.5364821097737, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 176.0424252389954, + 1913.9384058984203, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 177.5424252389954, + 1911.340329687067, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 179.0424252389954, + 1908.7422534757136, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 180.5424252389954, + 1906.1441772643602, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 182.0424252389954, + 1903.5461010530069, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 183.5424252389954, + 1900.9480248416535, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 185.0424252389954, + 1898.3499486303, + 56.358689315500456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 186.5424252389954, + 1895.7518724189467, + 56.358689315500456 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 192.0, + 1876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-12-19_608580149/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-12-19_608580149/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2706856f53567717cef411b04a62ce5ab364b12d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-12-19_608580149/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -739.5491394574846, + 2165.95528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -742.1472156688378, + 2167.45528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -744.7452918801912, + 2168.95528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -747.3433680915446, + 2170.45528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -749.9414443028979, + 2171.95528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -752.5395205142513, + 2173.45528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -755.1375967256047, + 2174.95528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -757.735672936958, + 2176.45528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -760.3337491483114, + 2177.95528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -762.9318253596648, + 2179.45528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -765.5299015710182, + 2180.95528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -768.1279777823715, + 2182.45528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -770.7260539937249, + 2183.95528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -773.3241302050783, + 2185.45528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -775.9222064164317, + 2186.95528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -778.520282627785, + 2188.45528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -781.1183588391384, + 2189.95528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -783.7164350504918, + 2191.45528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -786.3145112618452, + 2192.95528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -788.9125874731985, + 2194.45528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -791.5106636845519, + 2195.95528493018, + 46.32308431561889 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -791.5106636845519, + 2195.95528493018, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -793.0106636845519, + 2198.553361141533, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -794.5106636845519, + 2201.151437352886, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -796.0106636845519, + 2203.7495135642394, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -797.5106636845519, + 2206.3475897755925, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -799.0106636845519, + 2208.9456659869456, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -800.5106636845519, + 2211.543742198299, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -802.0106636845519, + 2214.141818409652, + 46.32308431561889 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -802.0106636845519, + 2214.141818409652, + 46.32308431561889 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915224 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -804.6087398959053, + 2215.641818409652, + 46.32308431561889 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915224 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -836.0, + 2240.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-12-37_2146753918/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-12-37_2146753918/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b816e109b3faaeb5812b8c4ba5f903aab2b9de0 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-12-37_2146753918/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2273.30861586038, + -2059.340483262917, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2274.80861586038, + -2056.742407051564, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2276.30861586038, + -2054.144330840211, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2277.80861586038, + -2051.5462546288577, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2279.30861586038, + -2048.9481784175046, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2280.80861586038, + -2046.3501022061512, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2282.30861586038, + -2043.7520259947978, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2283.80861586038, + -2041.1539497834444, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2285.30861586038, + -2038.555873572091, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2286.80861586038, + -2035.9577973607377, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2288.30861586038, + -2033.3597211493843, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2289.80861586038, + -2030.761644938031, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2291.30861586038, + -2028.1635687266776, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2292.80861586038, + -2025.5654925153242, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2294.30861586038, + -2022.9674163039708, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2295.80861586038, + -2020.3693400926174, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2297.30861586038, + -2017.771263881264, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2298.80861586038, + -2015.1731876699107, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2300.30861586038, + -2012.5751114585573, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2301.80861586038, + -2009.977035247204, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2303.30861586038, + -2007.3789590358506, + 58.27365125241001 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2303.30861586038, + -2007.3789590358506, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2303.30861586038, + -2004.3789590358506, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2303.30861586038, + -2001.3789590358506, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2303.30861586038, + -1998.3789590358506, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2303.30861586038, + -1995.3789590358506, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2303.30861586038, + -1992.3789590358506, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2303.30861586038, + -1989.3789590358506, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2303.30861586038, + -1986.3789590358506, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2303.30861586038, + -1983.3789590358506, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2303.30861586038, + -1980.3789590358506, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2303.30861586038, + -1977.3789590358506, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2303.30861586038, + -1974.3789590358506, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2303.30861586038, + -1971.3789590358506, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2303.30861586038, + -1968.3789590358506, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2303.30861586038, + -1965.3789590358506, + 58.27365125241001 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -2303.30861586038, + -1962.3789590358506, + 58.27365125241001 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2312.0, + -1936.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-14-22_351205738/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-14-22_351205738/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e951ac57eb7bf7ece6cc8edb99325636e4a18d0d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-14-22_351205738/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4059.481790710828, + 2212.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4062.481790710828, + 2212.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4065.481790710828, + 2212.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4068.481790710828, + 2212.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4071.481790710828, + 2212.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4074.481790710828, + 2212.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4077.481790710828, + 2212.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4080.481790710828, + 2212.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4083.481790710828, + 2212.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4086.481790710828, + 2212.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4089.481790710828, + 2212.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4092.481790710828, + 2212.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4095.481790710828, + 2212.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4098.481790710828, + 2212.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4101.481790710828, + 2212.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4104.481790710828, + 2212.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4107.481790710828, + 2212.638284395992, + 63.46287486175586 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4107.481790710828, + 2212.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4110.079866922181, + 2214.138284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4112.677943133534, + 2215.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4115.276019344888, + 2217.138284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4117.874095556241, + 2218.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4120.472171767594, + 2220.138284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 4123.070247978947, + 2221.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 4125.6683241903, + 2223.138284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 4128.266400401653, + 2224.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 4130.864476613006, + 2226.138284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4133.46255282436, + 2227.638284395992, + 63.46287486175586 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 4133.46255282436, + 2227.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 2.842170943040401e-14 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 4136.46255282436, + 2227.638284395992, + 63.46287486175586 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4139.46255282436, + 2227.638284395992, + 63.46287486175586 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4164.0, + 2232.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-17-37_1696779465/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-17-37_1696779465/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb87afd07a3e9089fe0dbd2cf38b825d9bb1a2b4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-17-37_1696779465/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -772.7280142966587, + 369.07161695280024, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -771.2280142966587, + 371.66969316415356, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -769.7280142966587, + 374.2677693755069, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -768.2280142966587, + 376.8658455868602, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -766.7280142966587, + 379.4639217982135, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -765.2280142966587, + 382.0619980095668, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -763.7280142966587, + 384.66007422092014, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -762.2280142966587, + 387.25815043227345, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -760.7280142966587, + 389.85622664362677, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -759.2280142966587, + 392.4543028549801, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -757.7280142966587, + 395.0523790663334, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -756.2280142966587, + 397.6504552776867, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -754.7280142966587, + 400.24853148904003, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -753.2280142966587, + 402.84660770039335, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -751.7280142966587, + 405.44468391174667, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -750.2280142966587, + 408.0427601231, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -748.7280142966587, + 410.6408363344533, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -747.2280142966587, + 413.2389125458066, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -745.7280142966587, + 415.83698875715993, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -744.2280142966587, + 418.43506496851325, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -742.7280142966587, + 421.03314117986656, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -741.2280142966587, + 423.6312173912199, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -739.7280142966587, + 426.2292936025732, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -738.2280142966587, + 428.8273698139265, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -736.7280142966587, + 431.4254460252798, + 57.186183260572236 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -736.7280142966587, + 431.4254460252798, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -736.7280142966587, + 434.4254460252798, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -736.7280142966587, + 437.4254460252798, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -736.7280142966587, + 440.4254460252798, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -736.7280142966587, + 443.4254460252798, + 57.186183260572236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -736.7280142966587, + 446.4254460252798, + 57.186183260572236 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -728.0, + 472.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-17-58_30245415/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-17-58_30245415/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..50e8fbd32fd142b99371026761f190462036d41e --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-17-58_30245415/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1275.3737041055933, + -894.776260473298, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1276.8737041055933, + -892.1781842619446, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1278.3737041055933, + -889.5801080505912, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1279.8737041055933, + -886.9820318392378, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1281.3737041055933, + -884.3839556278845, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1282.8737041055933, + -881.7858794165311, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1284.3737041055933, + -879.1878032051777, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1285.8737041055933, + -876.5897269938243, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1287.3737041055933, + -873.991650782471, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1288.8737041055933, + -871.3935745711176, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1290.3737041055933, + -868.7954983597642, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1291.8737041055933, + -866.1974221484109, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1293.3737041055933, + -863.5993459370575, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1294.8737041055933, + -861.0012697257041, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1296.3737041055933, + -858.4031935143507, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1297.8737041055933, + -855.8051173029974, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1299.3737041055933, + -853.207041091644, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1300.8737041055933, + -850.6089648802906, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1302.3737041055933, + -848.0108886689372, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1303.8737041055933, + -845.4128124575839, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1305.3737041055933, + -842.8147362462305, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1306.8737041055933, + -840.2166600348771, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1308.3737041055933, + -837.6185838235237, + 40.72219323796471 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1308.3737041055933, + -837.6185838235237, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1308.3737041055933, + -834.6185838235237, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1308.3737041055933, + -831.6185838235237, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1308.3737041055933, + -828.6185838235237, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1308.3737041055933, + -825.6185838235237, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1308.3737041055933, + -822.6185838235237, + 40.72219323796471 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1308.3737041055933, + -819.6185838235237, + 40.72219323796471 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1324.0, + -788.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-2-39_1006777125/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-2-39_1006777125/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ed159e85060fde4d18925abef830dc4337f27f05 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-2-39_1006777125/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 578.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 575.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 572.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 569.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 566.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 563.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 560.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 557.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 554.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 551.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 548.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 545.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 542.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 539.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 536.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 533.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 530.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 527.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 524.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 521.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 518.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 515.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 512.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 509.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 506.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 503.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 500.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 497.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 494.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 491.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 488.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 485.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 482.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 479.654585668525, + 701.3367120957196, + 63.31476773087693 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 456.0, + 704.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-20-19_1644210801/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-20-19_1644210801/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39912616ed4afc8fd42b588ed1d723db6964e45d --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-20-19_1644210801/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2452.4980274731997, + -1989.6526102021978, + 46.86670469843162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2455.096103684553, + -1988.1526102021978, + 46.86670469843162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2457.694179895906, + -1986.6526102021978, + 46.86670469843162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2460.292256107259, + -1985.1526102021978, + 46.86670469843162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2462.8903323186123, + -1983.6526102021978, + 46.86670469843162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2465.4884085299655, + -1982.1526102021978, + 46.86670469843162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2468.0864847413186, + -1980.6526102021978, + 46.86670469843162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2470.6845609526717, + -1979.1526102021978, + 46.86670469843162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2473.282637164025, + -1977.6526102021978, + 46.86670469843162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2475.880713375378, + -1976.1526102021978, + 46.86670469843162 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2475.880713375378, + -1976.1526102021978, + 46.86670469843162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2477.380713375378, + -1973.5545339908444, + 46.86670469843162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2478.880713375378, + -1970.956457779491, + 46.86670469843162 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2556.0, + -1916.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-20-44_605624150/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-20-44_605624150/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..562dc995049a2d4b5b8b0198bd25f2d833f2f0a4 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-20-44_605624150/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1273.8455858627856, + 2272.6508697910476, + 63.98980977564129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1271.2475096514322, + 2271.1508697910476, + 63.98980977564129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1268.6494334400788, + 2269.6508697910476, + 63.98980977564129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1266.0513572287255, + 2268.1508697910476, + 63.98980977564129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1263.453281017372, + 2266.6508697910476, + 63.98980977564129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1260.8552048060187, + 2265.1508697910476, + 63.98980977564129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1258.2571285946653, + 2263.6508697910476, + 63.98980977564129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1255.659052383312, + 2262.1508697910476, + 63.98980977564129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1253.0609761719586, + 2260.6508697910476, + 63.98980977564129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1250.4628999606052, + 2259.1508697910476, + 63.98980977564129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1247.8648237492519, + 2257.6508697910476, + 63.98980977564129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1245.2667475378985, + 2256.1508697910476, + 63.98980977564129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1242.668671326545, + 2254.6508697910476, + 63.98980977564129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1240.0705951151917, + 2253.1508697910476, + 63.98980977564129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1237.4725189038384, + 2251.6508697910476, + 63.98980977564129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1234.874442692485, + 2250.1508697910476, + 63.98980977564129 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1232.2763664811316, + 2248.6508697910476, + 63.98980977564129 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1232.2763664811316, + 2248.6508697910476, + 63.98980977564129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1230.7763664811316, + 2246.0527935796945, + 63.98980977564129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1229.2763664811316, + 2243.4547173683413, + 63.98980977564129 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1227.7763664811316, + 2240.856641156988, + 63.98980977564129 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1156.0, + 2192.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-23-19_789373855/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-23-19_789373855/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e8b8ef550e62e236463899f5df7c35258b0b1ff --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-23-19_789373855/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1458.090117009408, + 855.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1458.090117009408, + 852.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1458.090117009408, + 849.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1458.090117009408, + 846.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1458.090117009408, + 843.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1458.090117009408, + 840.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1458.090117009408, + 837.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1458.090117009408, + 834.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1458.090117009408, + 831.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1458.090117009408, + 828.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1458.090117009408, + 825.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1458.090117009408, + 822.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1458.090117009408, + 819.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1458.090117009408, + 816.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1458.090117009408, + 813.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1458.090117009408, + 810.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1458.090117009408, + 807.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1458.090117009408, + 804.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1458.090117009408, + 801.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1458.090117009408, + 798.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1458.090117009408, + 795.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1458.090117009408, + 792.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1458.090117009408, + 789.8453652955991, + 60.536458215566924 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1458.090117009408, + 789.8453652955991, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1459.590117009408, + 787.2472890842457, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1461.090117009408, + 784.6492128728923, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1462.590117009408, + 782.051136661539, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1464.090117009408, + 779.4530604501856, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1465.590117009408, + 776.8549842388322, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1467.090117009408, + 774.2569080274789, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1468.590117009408, + 771.6588318161255, + 60.536458215566924 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1470.090117009408, + 769.0607556047721, + 60.536458215566924 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1472.0, + 752.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-24-27_1650076585/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-24-27_1650076585/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7585bba930f3fb69bff561cc5cd6f025fe132fc1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-24-27_1650076585/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3765.0667525498466, + -331.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3762.4686763384934, + -333.4906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3759.8706001271403, + -334.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3757.272523915787, + -336.4906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3754.674447704434, + -337.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3752.076371493081, + -339.4906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3749.4782952817277, + -340.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3746.8802190703746, + -342.4906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3744.2821428590214, + -343.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3741.6840666476683, + -345.4906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3739.085990436315, + -346.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3736.487914224962, + -348.4906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3733.889838013609, + -349.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3731.2917618022557, + -351.4906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3728.6936855909025, + -352.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3726.0956093795494, + -354.4906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3723.4975331681962, + -355.9906216614077, + 40.22208489722926 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3723.4975331681962, + -355.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897647 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3720.4975331681962, + -355.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3717.4975331681962, + -355.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3714.4975331681962, + -355.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3711.4975331681962, + -355.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3708.4975331681962, + -355.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3705.4975331681962, + -355.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3702.4975331681962, + -355.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3699.4975331681962, + -355.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3696.4975331681962, + -355.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3693.4975331681962, + -355.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3690.4975331681962, + -355.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3687.4975331681962, + -355.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3684.4975331681962, + -355.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3681.4975331681962, + -355.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3678.4975331681962, + -355.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3675.4975331681962, + -355.9906216614077, + 40.22208489722926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3672.4975331681962, + -355.9906216614077, + 40.22208489722926 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3644.0, + -364.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-24-48_1009771475/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-24-48_1009771475/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..721be4f477694f7e87b830df26d35cc2f9570ec6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-24-48_1009771475/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2707.293769650604, + -798.5378427355153, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2708.793769650604, + -795.939766524162, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2710.293769650604, + -793.3416903128086, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2711.793769650604, + -790.7436141014553, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2713.293769650604, + -788.1455378901019, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2714.793769650604, + -785.5474616787485, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2716.293769650604, + -782.9493854673951, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2717.793769650604, + -780.3513092560418, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2719.293769650604, + -777.7532330446884, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2720.793769650604, + -775.155156833335, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2722.293769650604, + -772.5570806219816, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2723.793769650604, + -769.9590044106283, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2725.293769650604, + -767.3609281992749, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2726.793769650604, + -764.7628519879215, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2728.293769650604, + -762.1647757765681, + 64.15960784049476 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2728.293769650604, + -762.1647757765681, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2730.8918458619573, + -760.6647757765681, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2733.4899220733105, + -759.1647757765681, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2736.0879982846636, + -757.6647757765681, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2738.6860744960168, + -756.1647757765681, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2741.28415070737, + -754.6647757765681, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2743.882226918723, + -753.1647757765681, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2746.480303130076, + -751.6647757765681, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2749.0783793414294, + -750.1647757765681, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2751.6764555527825, + -748.6647757765681, + 64.15960784049476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2754.2745317641356, + -747.1647757765681, + 64.15960784049476 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991466 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2788.0, + -712.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-25-31_1999357998/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-25-31_1999357998/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b6e51130d15a270ced811398e31ff7c2be8ce04 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-25-31_1999357998/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1104.9485264685686, + -1982.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1104.9485264685686, + -1985.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1104.9485264685686, + -1988.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1104.9485264685686, + -1991.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1104.9485264685686, + -1994.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1104.9485264685686, + -1997.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1104.9485264685686, + -2000.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1104.9485264685686, + -2003.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1104.9485264685686, + -2006.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1104.9485264685686, + -2009.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1104.9485264685686, + -2012.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1104.9485264685686, + -2015.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1104.9485264685686, + -2018.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1104.9485264685686, + -2021.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1104.9485264685686, + -2024.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1104.9485264685686, + -2027.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1104.9485264685686, + -2030.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1104.9485264685686, + -2033.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1104.9485264685686, + -2036.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1104.9485264685686, + -2039.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1104.9485264685686, + -2042.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1104.9485264685686, + -2045.9401312259668, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1104.9485264685686, + -2048.940131225967, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1104.9485264685686, + -2051.940131225967, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1104.9485264685686, + -2054.940131225967, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1104.9485264685686, + -2057.940131225967, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1104.9485264685686, + -2060.940131225967, + 66.39974623413362 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1104.9485264685686, + -2060.940131225967, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1103.4485264685686, + -2063.53820743732, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1101.9485264685686, + -2066.1362836486733, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1100.4485264685686, + -2068.7343598600264, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1098.9485264685686, + -2071.3324360713796, + 66.39974623413362 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1098.9485264685686, + -2071.3324360713796, + 66.39974623413362 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1096.3504502572152, + -2072.8324360713796, + 66.39974623413362 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982706 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1092.0, + -2088.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-29-51_1627051477/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-29-51_1627051477/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb3d5d3ee176864c5df8549c3aa7f27107ab11cb --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-29-51_1627051477/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1339.2402327486936, + 1399.9972617466653, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1337.7402327486936, + 1402.5953379580187, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1336.2402327486936, + 1405.193414169372, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1334.7402327486936, + 1407.7914903807255, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1333.2402327486936, + 1410.3895665920788, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1331.7402327486936, + 1412.9876428034322, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1330.2402327486936, + 1415.5857190147856, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1328.7402327486936, + 1418.183795226139, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1327.2402327486936, + 1420.7818714374923, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1325.7402327486936, + 1423.3799476488457, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1324.2402327486936, + 1425.978023860199, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1322.7402327486936, + 1428.5761000715524, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1321.2402327486936, + 1431.1741762829058, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1319.7402327486936, + 1433.7722524942592, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1318.2402327486936, + 1436.3703287056126, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1316.7402327486936, + 1438.968404916966, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1315.2402327486936, + 1441.5664811283193, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1313.7402327486936, + 1444.1645573396727, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1312.2402327486936, + 1446.762633551026, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1310.7402327486936, + 1449.3607097623794, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1309.2402327486936, + 1451.9587859737328, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1307.7402327486936, + 1454.5568621850862, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1306.2402327486936, + 1457.1549383964395, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1304.7402327486936, + 1459.753014607793, + 60.31853867954081 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1304.7402327486936, + 1459.753014607793, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1302.1421565373403, + 1461.253014607793, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1299.544080325987, + 1462.753014607793, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1296.9460041146335, + 1464.253014607793, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1294.3479279032802, + 1465.753014607793, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1291.7498516919268, + 1467.253014607793, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1289.1517754805734, + 1468.753014607793, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1286.55369926922, + 1470.253014607793, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1283.9556230578667, + 1471.753014607793, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1281.3575468465133, + 1473.253014607793, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1278.75947063516, + 1474.753014607793, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1276.1613944238065, + 1476.253014607793, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1273.5633182124532, + 1477.753014607793, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1270.9652420010998, + 1479.253014607793, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1268.3671657897464, + 1480.753014607793, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1265.769089578393, + 1482.253014607793, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1263.1710133670397, + 1483.753014607793, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1260.5729371556863, + 1485.253014607793, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1257.974860944333, + 1486.753014607793, + 60.31853867954081 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1255.3767847329796, + 1488.253014607793, + 60.31853867954081 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1236.0, + 1508.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-3-24_943471008/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-3-24_943471008/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af2bd9780a3b0465bae9f9652ebeec308d3acff7 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-3-24_943471008/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1896.780802446779, + 2332.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1896.780802446779, + 2329.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1896.780802446779, + 2326.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1896.780802446779, + 2323.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1896.780802446779, + 2320.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1896.780802446779, + 2317.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1896.780802446779, + 2314.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1896.780802446779, + 2311.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1896.780802446779, + 2308.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1896.780802446779, + 2305.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1896.780802446779, + 2302.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1896.780802446779, + 2299.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1896.780802446779, + 2296.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1896.780802446779, + 2293.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1896.780802446779, + 2290.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1896.780802446779, + 2287.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1896.780802446779, + 2284.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1896.780802446779, + 2281.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1896.780802446779, + 2278.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1896.780802446779, + 2275.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1896.780802446779, + 2272.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1896.780802446779, + 2269.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1896.780802446779, + 2266.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1896.780802446779, + 2263.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1896.780802446779, + 2260.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1896.780802446779, + 2257.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1896.780802446779, + 2254.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1896.780802446779, + 2251.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1896.780802446779, + 2248.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1896.780802446779, + 2245.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1896.780802446779, + 2242.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1896.780802446779, + 2239.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1896.780802446779, + 2236.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1896.780802446779, + 2233.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1896.780802446779, + 2230.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1896.780802446779, + 2227.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1896.780802446779, + 2224.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1896.780802446779, + 2221.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1896.780802446779, + 2218.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1896.780802446779, + 2215.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1896.780802446779, + 2212.897101455336, + 43.61485850479224 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1896.780802446779, + 2212.897101455336, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1895.280802446779, + 2210.2990252439827, + 43.61485850479224 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1893.780802446779, + 2207.7009490326295, + 43.61485850479224 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1892.0, + 2184.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-31-53_1536359305/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-31-53_1536359305/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..618a595482b746e565e795c8ceb079763f512074 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-31-53_1536359305/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2252.1670434360135, + -2893.8463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2254.7651196473666, + -2895.3463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2257.36319585872, + -2896.8463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2259.961272070073, + -2898.3463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2262.559348281426, + -2899.8463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2265.1574244927792, + -2901.3463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2267.7555007041324, + -2902.8463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2270.3535769154855, + -2904.3463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2272.9516531268387, + -2905.8463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2275.549729338192, + -2907.3463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2278.147805549545, + -2908.8463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2280.745881760898, + -2910.3463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2283.3439579722512, + -2911.8463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2285.9420341836044, + -2913.3463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2288.5401103949575, + -2914.8463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2291.1381866063107, + -2916.3463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2293.736262817664, + -2917.8463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2296.334339029017, + -2919.3463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2298.93241524037, + -2920.8463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2301.5304914517233, + -2922.3463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2304.1285676630764, + -2923.8463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2306.7266438744296, + -2925.3463164672203, + 46.27623891639234 + ], + "type": "turn left", + "value": 30, + "yaw": -2.617993877991466 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2306.7266438744296, + -2925.3463164672203, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931673 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2308.2266438744296, + -2927.9443926785734, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2309.7266438744296, + -2930.5424688899266, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2311.2266438744296, + -2933.1405451012797, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2312.7266438744296, + -2935.738621312633, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2314.2266438744296, + -2938.336697523986, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2315.7266438744296, + -2940.934773735339, + 46.27623891639234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2317.2266438744296, + -2943.5328499466923, + 46.27623891639234 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2368.0, + -2984.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-34-49_247011964/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-34-49_247011964/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b93b9c6ac77a87eb1324fea90d7c1fb2b5b958f3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-34-49_247011964/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1487.3136821029843, + 2108.4773523482354, + 66.21645780230077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1484.715605891631, + 2109.9773523482354, + 66.21645780230077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1482.1175296802776, + 2111.4773523482354, + 66.21645780230077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1479.5194534689242, + 2112.9773523482354, + 66.21645780230077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1476.9213772575708, + 2114.4773523482354, + 66.21645780230077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1474.3233010462175, + 2115.9773523482354, + 66.21645780230077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1471.725224834864, + 2117.4773523482354, + 66.21645780230077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1469.1271486235107, + 2118.9773523482354, + 66.21645780230077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1466.5290724121573, + 2120.4773523482354, + 66.21645780230077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1463.930996200804, + 2121.9773523482354, + 66.21645780230077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1461.3329199894506, + 2123.4773523482354, + 66.21645780230077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1458.7348437780972, + 2124.9773523482354, + 66.21645780230077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1456.1367675667439, + 2126.4773523482354, + 66.21645780230077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1453.5386913553905, + 2127.9773523482354, + 66.21645780230077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1450.940615144037, + 2129.4773523482354, + 66.21645780230077 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1448.3425389326837, + 2130.9773523482354, + 66.21645780230077 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1448.3425389326837, + 2130.9773523482354, + 66.21645780230077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1445.3425389326837, + 2130.9773523482354, + 66.21645780230077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1442.3425389326837, + 2130.9773523482354, + 66.21645780230077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1439.3425389326837, + 2130.9773523482354, + 66.21645780230077 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1380.0, + 2160.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-37-4_1140624109/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-37-4_1140624109/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e818cc55becc1630516b7b22465dccd099180e7 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-37-4_1140624109/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1517.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1514.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1511.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1508.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1505.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1502.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1499.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1496.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1493.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1490.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1487.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1484.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1481.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1478.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1475.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1472.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1469.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1466.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1463.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1460.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1457.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1454.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1451.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1448.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1445.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1442.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1442.1297592429937, + 1116.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1439.5316830316403, + 1115.267778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1436.933606820287, + 1113.767778592082, + 65.31884769042098 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1434.3355306089336, + 1112.267778592082, + 65.31884769042098 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1412.0, + 1108.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-45-30_1889829481/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-45-30_1889829481/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84aa8dbc5056a50a2bc5fe5cd68188c71d919dc6 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-45-30_1889829481/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1666.9490717901758, + 85.1952192163608, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1665.4490717901758, + 82.59714300500748, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1663.9490717901758, + 79.99906679365417, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1662.4490717901758, + 77.40099058230085, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1660.9490717901758, + 74.80291437094753, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1659.4490717901758, + 72.20483815959422, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1657.9490717901758, + 69.6067619482409, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1656.4490717901758, + 67.00868573688759, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1654.9490717901758, + 64.41060952553427, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1653.4490717901758, + 61.81253331418095, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1651.9490717901758, + 59.21445710282764, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1650.4490717901758, + 56.61638089147432, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1648.9490717901758, + 54.018304680121005, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1647.4490717901758, + 51.42022846876769, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1645.9490717901758, + 48.82215225741437, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1644.4490717901758, + 46.22407604606106, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1642.9490717901758, + 43.62599983470774, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1641.4490717901758, + 41.027923623354425, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1639.9490717901758, + 38.42984741200111, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1638.4490717901758, + 35.83177120064779, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1636.9490717901758, + 33.23369498929448, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1635.4490717901758, + 30.63561877794116, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1633.9490717901758, + 28.037542566587845, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1632.4490717901758, + 25.43946635523453, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1630.9490717901758, + 22.841390143881213, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1629.4490717901758, + 20.243313932527897, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1627.9490717901758, + 17.64523772117458, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1626.4490717901758, + 15.047161509821265, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1624.9490717901758, + 12.44908529846795, + 57.28067303574547 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1624.9490717901758, + 12.44908529846795, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1624.9490717901758, + 9.44908529846795, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1624.9490717901758, + 6.449085298467949, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1624.9490717901758, + 3.449085298467949, + 57.28067303574547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1624.9490717901758, + 0.4490852984679492, + 57.28067303574547 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1616.0, + -16.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-53-11_718152760/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-53-11_718152760/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a8e3c65184437854226cae6663672994b5eba3a1 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-53-11_718152760/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 3481.308599389487, + -573.2206490376328, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 3482.808599389487, + -570.6225728262796, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3484.308599389487, + -568.0244966149262, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 3485.808599389487, + -565.4264204035728, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 3487.308599389487, + -562.8283441922194, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 3488.808599389487, + -560.2302679808661, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3490.308599389487, + -557.6321917695127, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 3491.808599389487, + -555.0341155581593, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 3493.308599389487, + -552.436039346806, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3494.808599389487, + -549.8379631354526, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3496.308599389487, + -547.2398869240992, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3497.808599389487, + -544.6418107127458, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3499.308599389487, + -542.0437345013925, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 3500.808599389487, + -539.4456582900391, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3502.308599389487, + -536.8475820786857, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3503.808599389487, + -534.2495058673323, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3505.308599389487, + -531.651429655979, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 3506.808599389487, + -529.0533534446256, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 3508.308599389487, + -526.4552772332722, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 3509.808599389487, + -523.8572010219189, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 3511.308599389487, + -521.2591248105655, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3512.808599389487, + -518.6610485992121, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 3514.308599389487, + -516.0629723878587, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 3515.808599389487, + -513.4648961765054, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 3517.308599389487, + -510.86681996515205, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3518.808599389487, + -508.26874375379873, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 3520.308599389487, + -505.6706675424454, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 3521.808599389487, + -503.0725913310921, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3523.308599389487, + -500.4745151197388, + 45.0920517944482 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3523.308599389487, + -500.4745151197388, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3523.308599389487, + -497.4745151197388, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 3523.308599389487, + -494.4745151197388, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 3523.308599389487, + -491.4745151197388, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 3523.308599389487, + -488.4745151197388, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 3523.308599389487, + -485.4745151197388, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 3523.308599389487, + -482.4745151197388, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 3523.308599389487, + -479.4745151197388, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3523.308599389487, + -476.4745151197388, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 3523.308599389487, + -473.4745151197388, + 45.0920517944482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 3523.308599389487, + -470.4745151197388, + 45.0920517944482 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3532.0, + -444.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-54-51_2120279370/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-54-51_2120279370/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e99a6b3f1b8f2acf88f822227a457a3c1cdb4d06 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-54-51_2120279370/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1190.1088799481358, + 2139.2109178113687, + 63.97592720998375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1188.6088799481358, + 2136.6128416000156, + 63.97592720998375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1187.1088799481358, + 2134.0147653886625, + 63.97592720998375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1185.6088799481358, + 2131.4166891773093, + 63.97592720998375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1184.1088799481358, + 2128.818612965956, + 63.97592720998375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1182.6088799481358, + 2126.220536754603, + 63.97592720998375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1181.1088799481358, + 2123.62246054325, + 63.97592720998375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1179.6088799481358, + 2121.0243843318967, + 63.97592720998375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1178.1088799481358, + 2118.4263081205436, + 63.97592720998375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1176.6088799481358, + 2115.8282319091904, + 63.97592720998375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1175.1088799481358, + 2113.2301556978373, + 63.97592720998375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1173.6088799481358, + 2110.632079486484, + 63.97592720998375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1172.1088799481358, + 2108.034003275131, + 63.97592720998375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1170.6088799481358, + 2105.435927063778, + 63.97592720998375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1169.1088799481358, + 2102.8378508524247, + 63.97592720998375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1167.6088799481358, + 2100.2397746410716, + 63.97592720998375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1166.1088799481358, + 2097.6416984297184, + 63.97592720998375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1164.6088799481358, + 2095.0436222183653, + 63.97592720998375 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1132.0, + 2040.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-55-19_1580895291/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-55-19_1580895291/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..24a1b6e8516529966340e48628773f090ebc1914 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-55-19_1580895291/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -519.1064771203548, + -2211.0084498629208, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -517.6064771203548, + -2208.4103736515676, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -516.1064771203548, + -2205.8122974402145, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -514.6064771203548, + -2203.2142212288613, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -513.1064771203548, + -2200.616145017508, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -511.60647712035484, + -2198.018068806155, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -510.10647712035484, + -2195.419992594802, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -508.60647712035484, + -2192.8219163834488, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -507.10647712035484, + -2190.2238401720956, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -505.60647712035484, + -2187.6257639607425, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -504.10647712035484, + -2185.0276877493893, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -502.60647712035484, + -2182.429611538036, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -501.10647712035484, + -2179.831535326683, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -499.60647712035484, + -2177.23345911533, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -498.10647712035484, + -2174.6353829039767, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -496.60647712035484, + -2172.0373066926236, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -495.10647712035484, + -2169.4392304812704, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -493.60647712035484, + -2166.8411542699173, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -492.10647712035484, + -2164.243078058564, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -490.60647712035484, + -2161.645001847211, + 55.244358408538744 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -490.60647712035484, + -2161.645001847211, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948681 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -490.60647712035484, + -2158.645001847211, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -490.60647712035484, + -2155.645001847211, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -490.60647712035484, + -2152.645001847211, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -490.60647712035484, + -2149.645001847211, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -490.60647712035484, + -2146.645001847211, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -490.60647712035484, + -2143.645001847211, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -490.60647712035484, + -2140.645001847211, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -490.60647712035484, + -2137.645001847211, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -490.60647712035484, + -2134.645001847211, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -490.60647712035484, + -2131.645001847211, + 55.244358408538744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -490.60647712035484, + -2128.645001847211, + 55.244358408538744 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -484.0, + -2100.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-55-3_2137387633/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-55-3_2137387633/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93a099cd8f798d33bf558b9770c4fbbde89a9bcc --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-55-3_2137387633/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 4652.438245719141, + 127.00013806660839, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.61799387799147 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4649.840169507788, + 128.50013806660837, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.61799387799147 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4647.242093296435, + 130.00013806660837, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 4644.644017085082, + 131.50013806660837, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 4642.045940873729, + 133.00013806660837, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 4639.447864662376, + 134.50013806660837, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4636.8497884510225, + 136.00013806660837, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 4634.251712239669, + 137.50013806660837, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4631.653636028316, + 139.00013806660837, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 4629.055559816963, + 140.50013806660837, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 4626.45748360561, + 142.00013806660837, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 4623.859407394257, + 143.50013806660837, + 52.85960613558764 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991466 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4623.859407394257, + 143.50013806660837, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931673 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4622.359407394257, + 146.0982142779617, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4620.859407394257, + 148.696290489315, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4619.359407394257, + 151.29436670066832, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4617.859407394257, + 153.89244291202164, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 4616.359407394257, + 156.49051912337495, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 4614.859407394257, + 159.08859533472827, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4613.359407394257, + 161.68667154608158, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4611.859407394257, + 164.2847477574349, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 4610.359407394257, + 166.88282396878822, + 52.85960613558764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4608.859407394257, + 169.48090018014153, + 52.85960613558764 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4580.0, + 196.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-57-30_844320799/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-57-30_844320799/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5bbb097d8f7857192882993d8845547dfc876f87 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-57-30_844320799/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -686.1502886055918, + -2202.981662568361, + 64.55540758303441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -684.6502886055918, + -2205.5797387797143, + 64.55540758303441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -683.1502886055918, + -2208.1778149910674, + 64.55540758303441 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -681.6502886055918, + -2210.7758912024206, + 64.55540758303441 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -681.6502886055918, + -2210.7758912024206, + 64.55540758303441 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -679.0522123942385, + -2212.2758912024206, + 64.55540758303441 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -676.4541361828851, + -2213.7758912024206, + 64.55540758303441 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -673.8560599715317, + -2215.2758912024206, + 64.55540758303441 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -671.2579837601784, + -2216.7758912024206, + 64.55540758303441 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -668.659907548825, + -2218.2758912024206, + 64.55540758303441 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -666.0618313374716, + -2219.7758912024206, + 64.55540758303441 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -663.4637551261183, + -2221.2758912024206, + 64.55540758303441 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -660.8656789147649, + -2222.7758912024206, + 64.55540758303441 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -658.2676027034115, + -2224.2758912024206, + 64.55540758303441 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -655.6695264920581, + -2225.7758912024206, + 64.55540758303441 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -653.0714502807048, + -2227.2758912024206, + 64.55540758303441 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -650.4733740693514, + -2228.7758912024206, + 64.55540758303441 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -592.0, + -2264.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-58-22_501560353/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-58-22_501560353/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..812a13b0a6d86c182282faf99af7609f7202c6b2 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-58-22_501560353/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 603.960905803586, + 213.96150734620355, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 605.460905803586, + 211.36343113485023, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 606.960905803586, + 208.76535492349691, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 608.460905803586, + 206.1672787121436, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 609.960905803586, + 203.56920250079028, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 611.460905803586, + 200.97112628943697, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 612.960905803586, + 198.37305007808365, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 614.460905803586, + 195.77497386673033, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 615.960905803586, + 193.17689765537702, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 617.460905803586, + 190.5788214440237, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 618.960905803586, + 187.9807452326704, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 620.460905803586, + 185.38266902131707, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 621.960905803586, + 182.78459280996375, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 623.460905803586, + 180.18651659861044, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 624.960905803586, + 177.58844038725712, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 626.460905803586, + 174.9903641759038, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 627.960905803586, + 172.3922879645505, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 629.460905803586, + 169.79421175319717, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 630.960905803586, + 167.19613554184386, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 632.460905803586, + 164.59805933049054, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 633.960905803586, + 161.99998311913723, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 635.460905803586, + 159.4019069077839, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 636.960905803586, + 156.8038306964306, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 638.460905803586, + 154.20575448507728, + 49.22409027826746 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 638.460905803586, + 154.20575448507728, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 641.0589820149394, + 152.70575448507728, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 643.6570582262927, + 151.20575448507728, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 646.2551344376461, + 149.70575448507728, + 49.22409027826746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 648.8532106489995, + 148.20575448507728, + 49.22409027826746 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 660.0, + 128.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-59-34_987359759/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-59-34_987359759/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ec2c65ce22d76dc7f6d79a57b885adefeebf1e3 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-59-34_987359759/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2358.130572315521, + 296.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2361.130572315521, + 296.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2364.130572315521, + 296.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2367.130572315521, + 296.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2370.130572315521, + 296.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2373.130572315521, + 296.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2376.130572315521, + 296.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2379.130572315521, + 296.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2382.130572315521, + 296.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2385.130572315521, + 296.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2388.130572315521, + 296.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2391.130572315521, + 296.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2394.130572315521, + 296.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2397.130572315521, + 296.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2400.130572315521, + 296.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2403.130572315521, + 296.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2406.130572315521, + 296.0984321541126, + 50.91163385549826 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2406.130572315521, + 296.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2408.728648526874, + 297.5984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 2411.3267247382273, + 299.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2413.9248009495805, + 300.5984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 2416.5228771609336, + 302.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 2419.1209533722867, + 303.5984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2421.71902958364, + 305.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2424.317105794993, + 306.5984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 2426.915182006346, + 308.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 2429.5132582176993, + 309.5984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 2432.1113344290525, + 311.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2434.7094106404056, + 312.5984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2437.3074868517588, + 314.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 2439.905563063112, + 315.5984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 2442.503639274465, + 317.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2445.101715485818, + 318.5984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 2447.6997916971713, + 320.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 2450.2978679085245, + 321.5984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 2452.8959441198776, + 323.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 2455.494020331231, + 324.5984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 2458.092096542584, + 326.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 2460.690172753937, + 327.5984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 2463.28824896529, + 329.0984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 2465.8863251766434, + 330.5984321541126, + 50.91163385549826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983272 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2468.4844013879965, + 332.0984321541126, + 50.91163385549826 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983272 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2480.0, + 336.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-6-24_2065010947/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-6-24_2065010947/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd22d9f4385cd025b948346167a6195d3a92f875 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-6-24_2065010947/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1787.1593307523951, + 2467.8365040731724, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1790.1593307523951, + 2467.8365040731724, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1793.1593307523951, + 2467.8365040731724, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1796.1593307523951, + 2467.8365040731724, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1799.1593307523951, + 2467.8365040731724, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1802.1593307523951, + 2467.8365040731724, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1805.1593307523951, + 2467.8365040731724, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1808.1593307523951, + 2467.8365040731724, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1811.1593307523951, + 2467.8365040731724, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1814.1593307523951, + 2467.8365040731724, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1817.1593307523951, + 2467.8365040731724, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1820.1593307523951, + 2467.8365040731724, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1823.1593307523951, + 2467.8365040731724, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1826.1593307523951, + 2467.8365040731724, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1829.1593307523951, + 2467.8365040731724, + 51.77864421445784 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1829.1593307523951, + 2467.8365040731724, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1831.7574069637485, + 2469.3365040731724, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1834.3554831751019, + 2470.8365040731724, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1836.9535593864553, + 2472.3365040731724, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1839.5516355978086, + 2473.8365040731724, + 51.77864421445784 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1839.5516355978086, + 2473.8365040731724, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1841.0516355978086, + 2476.4345802845255, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1842.5516355978086, + 2479.0326564958787, + 51.77864421445784 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1842.5516355978086, + 2479.0326564958787, + 51.77864421445784 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982706 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1842.5516355978086, + 2479.0326564958787, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.8199664825478976e-14 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1845.5516355978086, + 2479.0326564958787, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1848.5516355978086, + 2479.0326564958787, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1851.5516355978086, + 2479.0326564958787, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1854.5516355978086, + 2479.0326564958787, + 51.77864421445784 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1854.5516355978086, + 2479.0326564958787, + 51.77864421445784 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1854.5516355978086, + 2479.0326564958787, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1856.0516355978086, + 2476.4345802845255, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1857.5516355978086, + 2473.8365040731724, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1859.0516355978086, + 2471.238427861819, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1860.5516355978086, + 2468.640351650466, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1862.0516355978086, + 2466.042275439113, + 51.77864421445784 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1862.0516355978086, + 2466.042275439113, + 51.77864421445784 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1862.0516355978086, + 2466.042275439113, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 2.8199664825478976e-14 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1865.0516355978086, + 2466.042275439113, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1868.0516355978086, + 2466.042275439113, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1871.0516355978086, + 2466.042275439113, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1874.0516355978086, + 2466.042275439113, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1877.0516355978086, + 2466.042275439113, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1880.0516355978086, + 2466.042275439113, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1883.0516355978086, + 2466.042275439113, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1886.0516355978086, + 2466.042275439113, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1889.0516355978086, + 2466.042275439113, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1892.0516355978086, + 2466.042275439113, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1895.0516355978086, + 2466.042275439113, + 51.77864421445784 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1898.0516355978086, + 2466.042275439113, + 51.77864421445784 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1928.0, + 2464.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-8-20_1749963007/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-8-20_1749963007/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2583d460b634a4a9ee9eecc07f8e499c94fb21bd --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-8-20_1749963007/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1169.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1166.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1163.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1160.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1157.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1154.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1151.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1148.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1145.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1142.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1139.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1136.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1133.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1130.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1127.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1124.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1121.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1118.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1115.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1112.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1112.7868082851937, + 1383.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1110.1887320738404, + 1381.595644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1107.590655862487, + 1380.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1104.9925796511336, + 1378.595644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1102.3945034397802, + 1377.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1099.7964272284269, + 1375.595644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1097.1983510170735, + 1374.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1094.6002748057201, + 1372.595644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1092.0021985943667, + 1371.095644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1089.4041223830134, + 1369.595644097416, + 67.29920609894552 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1086.80604617166, + 1368.095644097416, + 67.29920609894552 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1052.0, + 1364.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-8-39_1967905751/pose.jsonl b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-8-39_1967905751/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..43b8229d17336a128d33ee1d1662d8360e5de252 --- /dev/null +++ b/Image/env_airsim_gz/astar_data/medium_average/2025-1-7_9-8-39_1967905751/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -2226.1957011672876, + -991.9382514807187, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -2224.6957011672876, + -994.5363276920721, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -2223.1957011672876, + -997.1344039034254, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -2221.6957011672876, + -999.7324801147788, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -2220.1957011672876, + -1002.3305563261322, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -2218.6957011672876, + -1004.9286325374856, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2217.1957011672876, + -1007.5267087488389, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2215.6957011672876, + -1010.1247849601923, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2214.1957011672876, + -1012.7228611715457, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2212.6957011672876, + -1015.320937382899, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2211.1957011672876, + -1017.9190135942524, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2209.6957011672876, + -1020.5170898056058, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2208.1957011672876, + -1023.1151660169592, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2206.6957011672876, + -1025.7132422283125, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2205.1957011672876, + -1028.311318439666, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2203.6957011672876, + -1030.9093946510193, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2202.1957011672876, + -1033.5074708623727, + 51.97216847498977 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2202.1957011672876, + -1033.5074708623727, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2202.1957011672876, + -1036.5074708623727, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2202.1957011672876, + -1039.5074708623727, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2202.1957011672876, + -1042.5074708623727, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2202.1957011672876, + -1045.5074708623727, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2202.1957011672876, + -1048.5074708623727, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2202.1957011672876, + -1051.5074708623727, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2202.1957011672876, + -1054.5074708623727, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -2202.1957011672876, + -1057.5074708623727, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2202.1957011672876, + -1060.5074708623727, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2202.1957011672876, + -1063.5074708623727, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2202.1957011672876, + -1066.5074708623727, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -2202.1957011672876, + -1069.5074708623727, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2202.1957011672876, + -1072.5074708623727, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -2202.1957011672876, + -1075.5074708623727, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -2202.1957011672876, + -1078.5074708623727, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -2202.1957011672876, + -1081.5074708623727, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -2202.1957011672876, + -1084.5074708623727, + 51.97216847498977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -2202.1957011672876, + -1087.5074708623727, + 51.97216847498977 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -2196.0, + -1108.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +}