diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-23-48_1434322197/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-23-48_1434322197/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a1b7c354ceb63594a0449e58504b29e852dfe31d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-23-48_1434322197/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 728.1389611304385, + -1546.5288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 731.1389611304385, + -1546.5288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 734.1389611304385, + -1546.5288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 737.1389611304385, + -1546.5288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 740.1389611304385, + -1546.5288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 743.1389611304385, + -1546.5288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 746.1389611304385, + -1546.5288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 749.1389611304385, + -1546.5288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 752.1389611304385, + -1546.5288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 755.1389611304385, + -1546.5288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 758.1389611304385, + -1546.5288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 761.1389611304385, + -1546.5288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 764.1389611304385, + -1546.5288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 767.1389611304385, + -1546.5288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 770.1389611304385, + -1546.5288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 773.1389611304385, + -1546.5288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 776.1389611304385, + -1546.5288945697632, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 776.1389611304385, + -1546.5288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 778.7370373417918, + -1548.0288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 781.3351135531452, + -1549.5288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 783.9331897644986, + -1551.0288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 786.531265975852, + -1552.5288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 789.1293421872053, + -1554.0288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 791.7274183985587, + -1555.5288945697632, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 794.3254946099121, + -1557.0288945697632, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 812.0, + -1560.0, + 163.632 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-3-44_420687483/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-3-44_420687483/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e49fc6743298e66c4f92891bc03e6c93794f4be --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-3-44_420687483/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 427.5784504061889, + 973.8785799657971, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 429.0784504061889, + 971.2805037544438, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 430.5784504061889, + 968.6824275430904, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 432.0784504061889, + 966.084351331737, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 433.5784504061889, + 963.4862751203837, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 435.0784504061889, + 960.8881989090303, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 436.5784504061889, + 958.2901226976769, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 438.0784504061889, + 955.6920464863235, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 439.5784504061889, + 953.0939702749702, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 441.0784504061889, + 950.4958940636168, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 442.5784504061889, + 947.8978178522634, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 444.0784504061889, + 945.29974164091, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 444.0784504061889, + 945.29974164091, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 444.0784504061889, + 942.29974164091, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 444.0784504061889, + 939.29974164091, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 444.0784504061889, + 936.29974164091, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 444.0784504061889, + 933.29974164091, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 444.0784504061889, + 930.29974164091, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 444.0784504061889, + 927.29974164091, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 444.0784504061889, + 924.29974164091, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 444.0784504061889, + 921.29974164091, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 452.0, + 904.0, + 171.245 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-39-15_1337434154/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-39-15_1337434154/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87b1ca5180f50eacda061feb2bb18543e2685f57 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-39-15_1337434154/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 637.6904799994103, + -1049.688867123575, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 639.1904799994103, + -1052.2869433349283, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 640.6904799994103, + -1054.8850195462817, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 640.6904799994103, + -1054.8850195462817, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 643.2885562107635, + -1056.3850195462817, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + -1108.0, + 165.103 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-51-52_1499150323/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-51-52_1499150323/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e709457b0ad439a0b53b60bd2ea76aeca9beb52c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_17-51-52_1499150323/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 97.18562585219549, + 698.2147022230739, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 97.18562585219549, + 701.2147022230739, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 97.18562585219549, + 704.2147022230739, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 97.18562585219549, + 707.2147022230739, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 97.18562585219549, + 710.2147022230739, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 97.18562585219549, + 713.2147022230739, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 97.18562585219549, + 716.2147022230739, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 97.18562585219549, + 719.2147022230739, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 97.18562585219549, + 722.2147022230739, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 97.18562585219549, + 725.2147022230739, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 97.18562585219549, + 728.2147022230739, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 97.18562585219549, + 731.2147022230739, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 97.18562585219549, + 734.2147022230739, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 97.18562585219549, + 737.2147022230739, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 97.18562585219549, + 737.2147022230739, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 95.68562585219549, + 739.8127784344272, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 94.18562585219549, + 742.4108546457805, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 92.68562585219549, + 745.0089308571339, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 91.18562585219549, + 747.6070070684873, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 89.68562585219549, + 750.2050832798407, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 89.68562585219549, + 750.2050832798407, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 89.68562585219549, + 753.2050832798407, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 89.68562585219549, + 756.2050832798407, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 84.0, + 796.0, + 203.339 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-15-48_93155710/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-15-48_93155710/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f286f985bdb59a3630580d3757f00aa71c12adc3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-15-48_93155710/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 603.5531850584699, + 142.7085908509516, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 602.0531850584699, + 140.11051463959828, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 600.5531850584699, + 137.51243842824496, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 599.0531850584699, + 134.91436221689165, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 597.5531850584699, + 132.31628600553833, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 596.0531850584699, + 129.71820979418501, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 594.5531850584699, + 127.1201335828317, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 593.0531850584699, + 124.52205737147838, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 591.5531850584699, + 121.92398116012507, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 590.0531850584699, + 119.32590494877175, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 588.5531850584699, + 116.72782873741843, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 587.0531850584699, + 114.12975252606512, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 585.5531850584699, + 111.5316763147118, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 585.5531850584699, + 111.5316763147118, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 585.5531850584699, + 108.5316763147118, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 585.5531850584699, + 105.5316763147118, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 585.5531850584699, + 102.5316763147118, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 585.5531850584699, + 99.5316763147118, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 585.5531850584699, + 96.5316763147118, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 585.5531850584699, + 93.5316763147118, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 585.5531850584699, + 90.5316763147118, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 576.0, + 68.0, + 235.931 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-17-19_1514620094/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-17-19_1514620094/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3076367f9a2026d48a806d460458a61c34855dcd --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-17-19_1514620094/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 622.395660632018, + -1041.8301277243654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 624.9937368433714, + -1043.3301277243654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 627.5918130547248, + -1044.8301277243654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 630.1898892660781, + -1046.3301277243654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 632.7879654774315, + -1047.8301277243654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 635.3860416887849, + -1049.3301277243654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 637.9841179001382, + -1050.8301277243654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 640.5821941114916, + -1052.3301277243654, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 640.5821941114916, + -1052.3301277243654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 642.0821941114916, + -1054.9282039357188, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 643.5821941114916, + -1057.5262801470722, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 684.0, + -1088.0, + 165.83 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-32-31_305564045/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-32-31_305564045/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac81617fb41a63be3066144d9b8adc5b2b56ba97 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-32-31_305564045/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 87.73778537317389, + 588.492720396847, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 86.23778537317389, + 591.0907966082002, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 84.73778537317389, + 593.6888728195536, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 84.73778537317389, + 593.6888728195536, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 84.73778537317389, + 596.6888728195536, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 84.73778537317389, + 599.6888728195536, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 84.73778537317389, + 602.6888728195536, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + 660.0, + 189.14 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-43-45_144874089/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-43-45_144874089/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7e37a3466b0ce53091e2fff785a1200599d1cc37 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-43-45_144874089/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 288.05697746368935, + 200.42228612363562, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 285.05697746368935, + 200.42228612363562, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 282.05697746368935, + 200.42228612363562, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 279.05697746368935, + 200.42228612363562, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 276.05697746368935, + 200.42228612363562, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 273.05697746368935, + 200.42228612363562, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 270.05697746368935, + 200.42228612363562, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 267.05697746368935, + 200.42228612363562, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 264.05697746368935, + 200.42228612363562, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 261.05697746368935, + 200.42228612363562, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 258.05697746368935, + 200.42228612363562, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 258.05697746368935, + 200.42228612363562, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 255.45890125233603, + 201.92228612363562, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 252.86082504098272, + 203.42228612363562, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 250.2627488296294, + 204.92228612363562, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 200.0, + 216.0, + 361.985 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-44-25_13798878/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-44-25_13798878/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..424bd409c913e60a0f8bd23205e060ec7842a693 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-44-25_13798878/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 169.47955100722996, + 114.35614234896198, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 167.97955100722996, + 111.75806613760867, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 166.47955100722996, + 109.15998992625535, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 164.97955100722996, + 106.56191371490203, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 163.47955100722996, + 103.96383750354872, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 161.97955100722996, + 101.3657612921954, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 160.47955100722996, + 98.76768508084209, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 158.97955100722996, + 96.16960886948877, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 157.47955100722996, + 93.57153265813545, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 157.47955100722996, + 93.57153265813545, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 157.47955100722996, + 90.57153265813545, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 157.47955100722996, + 87.57153265813545, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 157.47955100722996, + 84.57153265813545, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 157.47955100722996, + 81.57153265813545, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 157.47955100722996, + 78.57153265813545, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + 20.0, + 602.915 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-51-14_1145151225/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-51-14_1145151225/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca127859564425ac5fa7562ac3f6c46450daf0f1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-51-14_1145151225/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 514.4454001024901, + -9.707080178005597, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 515.9454001024901, + -7.109003966652281, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 517.4454001024901, + -4.510927755298965, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 518.9454001024901, + -1.9128515439456493, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 520.4454001024901, + 0.6852246674076667, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 521.9454001024901, + 3.2833008787609828, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 523.4454001024901, + 5.881377090114299, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 524.9454001024901, + 8.479453301467615, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 526.4454001024901, + 11.07752951282093, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 527.9454001024901, + 13.675605724174247, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 529.4454001024901, + 16.273681935527563, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 530.9454001024901, + 18.87175814688088, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 532.4454001024901, + 21.469834358234195, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 533.9454001024901, + 24.06791056958751, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 535.4454001024901, + 26.665986780940827, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 536.9454001024901, + 29.264062992294143, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 538.4454001024901, + 31.86213920364746, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 539.9454001024901, + 34.460215415000775, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 539.9454001024901, + 34.460215415000775, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 542.5434763138435, + 35.960215415000775, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 545.1415525251969, + 37.460215415000775, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 547.7396287365502, + 38.960215415000775, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 550.3377049479036, + 40.460215415000775, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 552.935781159257, + 41.960215415000775, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 555.5338573706103, + 43.460215415000775, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 576.0, + 68.0, + 235.931 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-52-17_877068972/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-52-17_877068972/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d31d3bc20d017591b8bc3e5e67d7ece85c1af6a4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-52-17_877068972/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 290.4080931998612, + 179.47588931677268, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 287.81001698850787, + 180.97588931677268, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 285.21194077715455, + 182.47588931677268, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 282.61386456580124, + 183.97588931677268, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 280.0157883544479, + 185.47588931677268, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 277.4177121430946, + 186.97588931677268, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 274.8196359317413, + 188.47588931677268, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 272.221559720388, + 189.97588931677268, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 269.62348350903466, + 191.47588931677268, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 232.0, + 212.0, + 376.005 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-7-14_482417719/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-7-14_482417719/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c23dba0311525587c139dcb23b0234508c9e758c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_18-7-14_482417719/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 303.7004702753501, + 228.4235104561855, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 301.10239406399677, + 226.9235104561855, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 298.50431785264345, + 225.4235104561855, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 295.90624164129014, + 223.9235104561855, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 293.3081654299368, + 222.4235104561855, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 290.7100892185835, + 220.9235104561855, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 288.1120130072302, + 219.4235104561855, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 285.5139367958769, + 217.9235104561855, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 282.91586058452356, + 216.4235104561855, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 280.31778437317024, + 214.9235104561855, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 277.7197081618169, + 213.4235104561855, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 275.1216319504636, + 211.9235104561855, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 272.5235557391103, + 210.4235104561855, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 269.925479527757, + 208.9235104561855, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 267.32740331640366, + 207.4235104561855, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 264.72932710505034, + 205.9235104561855, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 262.13125089369703, + 204.4235104561855, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 228.0, + 180.0, + 396.289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-18-13_256804978/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-18-13_256804978/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7c4238c4773cb2961859973331432f39ac3928ab --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-18-13_256804978/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 318.76552828117866, + 707.5174972103914, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 317.26552828117866, + 710.1155734217448, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 315.76552828117866, + 712.7136496330982, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 314.26552828117866, + 715.3117258444515, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 312.76552828117866, + 717.9098020558049, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 311.26552828117866, + 720.5078782671583, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 309.76552828117866, + 723.1059544785116, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 308.26552828117866, + 725.704030689865, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 306.76552828117866, + 728.3021069012184, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 305.26552828117866, + 730.9001831125718, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 303.76552828117866, + 733.4982593239251, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 303.76552828117866, + 733.4982593239251, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 301.16745206982534, + 734.9982593239251, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 298.56937585847203, + 736.4982593239251, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 295.9712996471187, + 737.9982593239251, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 293.3732234357654, + 739.4982593239251, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 290.7751472244121, + 740.9982593239251, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 288.17707101305876, + 742.4982593239251, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 285.57899480170545, + 743.9982593239251, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 282.98091859035213, + 745.4982593239251, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 282.98091859035213, + 745.4982593239251, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 281.48091859035213, + 748.0963355352785, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 279.98091859035213, + 750.6944117466319, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 278.48091859035213, + 753.2924879579853, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 252.0, + 780.0, + 191.626 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-28-49_1814634316/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-28-49_1814634316/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..68efceeddbc6678c30dc08468d30dc631f3f76fb --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-28-49_1814634316/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 65.44949881056242, + -32.228757488487986, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 68.04757502191573, + -30.728757488487986, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 70.64565123326905, + -29.228757488487986, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 73.24372744462237, + -27.728757488487986, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 75.84180365597568, + -26.228757488487986, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 78.439879867329, + -24.728757488487986, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 81.03795607868231, + -23.228757488487986, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 83.63603229003563, + -21.728757488487986, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 86.23410850138895, + -20.228757488487986, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 88.83218471274226, + -18.728757488487986, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + 20.0, + 602.915 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-29-25_1353668775/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-29-25_1353668775/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa5e4668ff4ff5b48edd2d3458e36fcba373b529 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-29-25_1353668775/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 252.32827822904906, + 225.96166794321402, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 249.73020201769575, + 224.46166794321402, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 247.13212580634243, + 222.96166794321402, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 196.0, + 184.0, + 386.26 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-3-37_730199492/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-3-37_730199492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0bd73f3a7bafcc44fa4b84c47e778bb5946c5418 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-3-37_730199492/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 782.4768296173908, + -1715.100033007645, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 783.9768296173908, + -1717.6981092189983, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 785.4768296173908, + -1720.2961854303517, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 786.9768296173908, + -1722.894261641705, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 788.4768296173908, + -1725.4923378530584, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 789.9768296173908, + -1728.0904140644118, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 791.4768296173908, + -1730.6884902757652, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 792.9768296173908, + -1733.2865664871185, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 794.4768296173908, + -1735.884642698472, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 795.9768296173908, + -1738.4827189098253, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 797.4768296173908, + -1741.0807951211787, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 798.9768296173908, + -1743.678871332532, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 800.4768296173908, + -1746.2769475438854, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 801.9768296173908, + -1748.8750237552388, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 803.4768296173908, + -1751.4730999665921, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 804.9768296173908, + -1754.0711761779455, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 806.4768296173908, + -1756.669252389299, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 807.9768296173908, + -1759.2673286006523, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 809.4768296173908, + -1761.8654048120056, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 809.4768296173908, + -1761.8654048120056, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 812.074905828744, + -1763.3654048120056, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 814.6729820400974, + -1764.8654048120056, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 817.2710582514508, + -1766.3654048120056, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 819.8691344628041, + -1767.8654048120056, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 822.4672106741575, + -1769.3654048120056, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 825.0652868855109, + -1770.8654048120056, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 827.6633630968643, + -1772.3654048120056, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 830.2614393082176, + -1773.8654048120056, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 832.859515519571, + -1775.3654048120056, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 844.0, + -1788.0, + 165.84 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-36-55_31797565/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-36-55_31797565/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec597efbd198cb704293692bfeade7d4e2637a92 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-36-55_31797565/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 251.2331067960047, + 956.3136072406527, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 254.2331067960047, + 956.3136072406527, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 257.2331067960047, + 956.3136072406527, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 260.2331067960047, + 956.3136072406527, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 263.2331067960047, + 956.3136072406527, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 266.2331067960047, + 956.3136072406527, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 269.2331067960047, + 956.3136072406527, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 272.2331067960047, + 956.3136072406527, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 275.2331067960047, + 956.3136072406527, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 278.2331067960047, + 956.3136072406527, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 281.2331067960047, + 956.3136072406527, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 281.2331067960047, + 956.3136072406527, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 283.831183007358, + 954.8136072406527, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 286.4292592187113, + 953.3136072406527, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 289.0273354300646, + 951.8136072406527, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 291.62541164141794, + 950.3136072406527, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 294.22348785277126, + 948.8136072406527, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 296.8215640641246, + 947.3136072406527, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 332.0, + 936.0, + 212.714 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-54-23_880492499/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-54-23_880492499/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0852ed2bb0f1c3db696b7cd8906c38a8ab7ea068 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_19-54-23_880492499/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 210.12672366430613, + 666.08118366877, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 208.62672366430613, + 668.6792598801233, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 207.12672366430613, + 671.2773360914766, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 205.62672366430613, + 673.87541230283, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 204.12672366430613, + 676.4734885141834, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 204.12672366430613, + 676.4734885141834, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 201.5286474529528, + 677.9734885141834, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 198.9305712415995, + 679.4734885141834, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 196.33249503024618, + 680.9734885141834, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 193.73441881889286, + 682.4734885141834, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 164.0, + 708.0, + 213.945 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-10-44_466647227/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-10-44_466647227/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c054d77562475353762c4bc4bb75886bc3cdcd7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-10-44_466647227/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 177.14357568771865, + 288.72032630488246, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 178.64357568771865, + 286.12225009352915, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 180.14357568771865, + 283.52417388217583, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 181.64357568771865, + 280.9260976708225, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 183.14357568771865, + 278.3280214594692, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 184.64357568771865, + 275.7299452481159, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 186.14357568771865, + 273.13186903676257, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 187.64357568771865, + 270.53379282540925, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 189.14357568771865, + 267.93571661405593, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 190.64357568771865, + 265.3376404027026, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 192.14357568771865, + 262.7395641913493, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 193.64357568771865, + 260.141487979996, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 195.14357568771865, + 257.54341176864267, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 195.14357568771865, + 257.54341176864267, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 195.14357568771865, + 254.54341176864267, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 195.14357568771865, + 251.54341176864267, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 195.14357568771865, + 248.54341176864267, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 195.14357568771865, + 245.54341176864267, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 195.14357568771865, + 242.54341176864267, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 195.14357568771865, + 239.54341176864267, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 195.14357568771865, + 236.54341176864267, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 195.14357568771865, + 233.54341176864267, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 195.14357568771865, + 230.54341176864267, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 195.14357568771865, + 227.54341176864267, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 200.0, + 216.0, + 361.985 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-26-27_856979759/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-26-27_856979759/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..32810526d848b2be115b8f9960c3361e53967f72 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-26-27_856979759/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 844.7527581281656, + -1261.5661200105087, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 842.1546819168123, + -1263.0661200105087, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 839.5566057054589, + -1264.5661200105087, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 836.9585294941055, + -1266.0661200105087, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 834.3604532827521, + -1267.5661200105087, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 831.7623770713988, + -1269.0661200105087, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 829.1643008600454, + -1270.5661200105087, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 826.566224648692, + -1272.0661200105087, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 826.566224648692, + -1272.0661200105087, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 825.066224648692, + -1274.664196221862, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 823.566224648692, + -1277.2622724332155, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 822.066224648692, + -1279.8603486445688, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 820.566224648692, + -1282.4584248559222, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 819.066224648692, + -1285.0565010672756, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 817.566224648692, + -1287.654577278629, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 800.0, + -1304.0, + 163.632 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-27-7_1019382894/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-27-7_1019382894/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..50346d3b3ac16aea3cfd90ef0faaee2ab40ee775 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-27-7_1019382894/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 434.85558536395666, + 657.4457100493075, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 433.35558536395666, + 660.0437862606609, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 431.85558536395666, + 662.6418624720143, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 430.35558536395666, + 665.2399386833677, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 428.85558536395666, + 667.838014894721, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 427.35558536395666, + 670.4360911060744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 425.85558536395666, + 673.0341673174278, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 424.35558536395666, + 675.6322435287811, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 422.85558536395666, + 678.2303197401345, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 421.35558536395666, + 680.8283959514879, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 419.85558536395666, + 683.4264721628413, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 418.35558536395666, + 686.0245483741946, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 416.85558536395666, + 688.622624585548, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 416.85558536395666, + 688.622624585548, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 416.85558536395666, + 691.622624585548, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 416.85558536395666, + 694.622624585548, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 400.0, + 736.0, + 172.46 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-31-11_1659239833/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-31-11_1659239833/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e74da1d381934a5d453e19762e4acac39d219aa --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-31-11_1659239833/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 894.5080899513332, + -1750.8707854535667, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 891.9100137399798, + -1752.3707854535667, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 889.3119375286265, + -1753.8707854535667, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 886.7138613172731, + -1755.3707854535667, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 836.0, + -1808.0, + 165.105 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-32-39_39848341/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-32-39_39848341/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..07c8fac2ea081fa8ac9dcdc758bb9b1ef9606968 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-32-39_39848341/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -211.91208385613527, + 64.90988350113142, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -209.31400764478195, + 66.40988350113142, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -206.71593143342864, + 67.90988350113142, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -204.11785522207532, + 69.40988350113142, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -201.519779010722, + 70.90988350113142, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -198.9217027993687, + 72.40988350113142, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -196.32362658801537, + 73.90988350113142, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -193.72555037666206, + 75.40988350113142, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -191.12747416530874, + 76.90988350113142, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -188.52939795395542, + 78.40988350113142, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -185.9313217426021, + 79.90988350113142, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -183.3332455312488, + 81.40988350113142, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -180.73516931989548, + 82.90988350113142, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -178.13709310854216, + 84.40988350113142, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -175.53901689718884, + 85.90988350113142, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -172.94094068583553, + 87.40988350113142, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -170.3428644744822, + 88.90988350113142, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -170.3428644744822, + 88.90988350113142, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -168.8428644744822, + 91.50795971248473, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -167.3428644744822, + 94.10603592383805, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -165.8428644744822, + 96.70411213519137, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 116.0, + 204.047 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-41-14_1656241707/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-41-14_1656241707/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..57cdd19f6dcf587ddd66565c7580ce789a2b9f09 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-41-14_1656241707/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 378.67615255463835, + 902.1605510143961, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 377.17615255463835, + 899.5624748030427, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 375.67615255463835, + 896.9643985916894, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 374.17615255463835, + 894.366322380336, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 372.67615255463835, + 891.7682461689826, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 371.17615255463835, + 889.1701699576292, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 369.67615255463835, + 886.5720937462759, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 368.17615255463835, + 883.9740175349225, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.0, + 848.0, + 180.724 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-46-5_2143493320/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-46-5_2143493320/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91cde41cff09b4e8704f008e59d97983cd7bde83 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-46-5_2143493320/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 496.93452791699974, + 863.3476028709229, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 494.3364517056464, + 864.8476028709229, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 491.7383754942931, + 866.3476028709229, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 489.1402992829398, + 867.8476028709229, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 486.5422230715865, + 869.3476028709229, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 483.94414686023316, + 870.8476028709229, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 481.34607064887985, + 872.3476028709229, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 481.34607064887985, + 872.3476028709229, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 479.84607064887985, + 874.9456790822762, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 478.34607064887985, + 877.5437552936296, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 452.0, + 904.0, + 171.245 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-48-57_374138644/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-48-57_374138644/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee2c898204f4b2f46cedf3aa46958c77e331dd65 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-48-57_374138644/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -63.43982098931713, + 48.64394791705048, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -66.03789720067044, + 50.14394791705048, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -68.63597341202376, + 51.64394791705048, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -71.23404962337708, + 53.14394791705048, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -73.83212583473039, + 54.64394791705048, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -76.4302020460837, + 56.14394791705048, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -79.02827825743702, + 57.64394791705048, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -81.62635446879034, + 59.14394791705048, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -81.62635446879034, + 59.14394791705048, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -83.12635446879034, + 61.7420241284038, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -84.62635446879034, + 64.34010033975711, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -86.12635446879034, + 66.93817655111043, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -87.62635446879034, + 69.53625276246375, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -89.12635446879034, + 72.13432897381706, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -90.62635446879034, + 74.73240518517038, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -92.12635446879034, + 77.3304813965237, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -92.12635446879034, + 77.3304813965237, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -94.72443068014366, + 78.8304813965237, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -97.32250689149697, + 80.3304813965237, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 116.0, + 204.047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-49-51_1470796522/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-49-51_1470796522/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d8469b8e6f0a0a31567463b8520c0a6f9273f5c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-49-51_1470796522/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 384.80319260482634, + 927.7053451118607, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 383.30319260482634, + 925.1072689005073, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 381.80319260482634, + 922.5091926891539, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 380.30319260482634, + 919.9111164778005, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 378.80319260482634, + 917.3130402664472, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 377.30319260482634, + 914.7149640550938, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 375.80319260482634, + 912.1168878437404, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 374.30319260482634, + 909.518811632387, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 372.80319260482634, + 906.9207354210337, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 371.30319260482634, + 904.3226592096803, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 369.80319260482634, + 901.7245829983269, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 368.30319260482634, + 899.1265067869736, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 366.80319260482634, + 896.5284305756202, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 365.30319260482634, + 893.9303543642668, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 363.80319260482634, + 891.3322781529134, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 362.30319260482634, + 888.7342019415601, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 362.30319260482634, + 888.7342019415601, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 362.30319260482634, + 885.7342019415601, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948872 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.0, + 848.0, + 180.724 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-8-16_1374631287/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-8-16_1374631287/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d5d9d79587cbed58bd8f67ada681a132f720a3d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_20-8-16_1374631287/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 773.0507066999625, + -1495.9180001013963, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 774.5507066999625, + -1498.5160763127496, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 776.0507066999625, + -1501.114152524103, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 777.5507066999625, + -1503.7122287354564, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 779.0507066999625, + -1506.3103049468098, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 780.5507066999625, + -1508.9083811581631, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 782.0507066999625, + -1511.5064573695165, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 783.5507066999625, + -1514.1045335808699, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 785.0507066999625, + -1516.7026097922233, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 786.5507066999625, + -1519.3006860035766, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 788.0507066999625, + -1521.89876221493, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 789.5507066999625, + -1524.4968384262834, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 791.0507066999625, + -1527.0949146376367, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 792.5507066999625, + -1529.6929908489901, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 794.0507066999625, + -1532.2910670603435, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 795.5507066999625, + -1534.8891432716969, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 797.0507066999625, + -1537.4872194830502, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 812.0, + -1560.0, + 163.632 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-11-49_427778693/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-11-49_427778693/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e93cb58478f540355899aec467785ea7bba72b5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-11-49_427778693/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 623.6341638056873, + 988.3798321250531, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 622.1341638056873, + 985.7817559136997, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 620.6341638056873, + 983.1836797023464, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 619.1341638056873, + 980.585603490993, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 617.6341638056873, + 977.9875272796396, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 616.1341638056873, + 975.3894510682862, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 614.6341638056873, + 972.7913748569329, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 613.1341638056873, + 970.1932986455795, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 611.6341638056873, + 967.5952224342261, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 610.1341638056873, + 964.9971462228727, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 608.6341638056873, + 962.3990700115194, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 608.6341638056873, + 962.3990700115194, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 606.036087594334, + 960.8990700115194, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 603.4380113829807, + 959.3990700115194, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 600.8399351716273, + 957.8990700115194, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 598.2418589602739, + 956.3990700115194, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 595.6437827489206, + 954.8990700115194, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 593.0457065375672, + 953.3990700115194, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 590.4476303262138, + 951.8990700115194, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 587.8495541148604, + 950.3990700115194, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.0, + 920.0, + 216.131 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-13-22_770833934/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-13-22_770833934/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a8cc7fe85bb84e12750309749f5fc483967561b9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-13-22_770833934/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 966.9810247397311, + -1661.89046974755, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 964.3829485283777, + -1663.39046974755, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 961.7848723170243, + -1664.89046974755, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 959.186796105671, + -1666.39046974755, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 956.5887198943176, + -1667.89046974755, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 953.9906436829642, + -1669.39046974755, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 951.3925674716108, + -1670.89046974755, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 948.7944912602575, + -1672.39046974755, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 946.1964150489041, + -1673.89046974755, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 943.5983388375507, + -1675.39046974755, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 941.0002626261974, + -1676.89046974755, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 938.402186414844, + -1678.39046974755, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 938.402186414844, + -1678.39046974755, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 935.402186414844, + -1678.39046974755, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 932.402186414844, + -1678.39046974755, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 929.402186414844, + -1678.39046974755, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 926.402186414844, + -1678.39046974755, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 923.402186414844, + -1678.39046974755, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 920.402186414844, + -1678.39046974755, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 896.0, + -1688.0, + 168.713 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-15-9_1470593630/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-15-9_1470593630/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c754f010845f9d624c63d251ebfee698c995447 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-15-9_1470593630/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -20.975654705416623, + 597.517140235376, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -17.975654705416623, + 597.517140235376, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -14.975654705416623, + 597.517140235376, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -14.975654705416623, + 597.517140235376, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -12.377578494063307, + 596.017140235376, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -9.779502282709991, + 594.517140235376, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -7.181426071356675, + 593.017140235376, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.0, + 576.0, + 235.275 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-18-15_279527351/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-18-15_279527351/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..050a2d419f5b9c29e0aaebb11db3dfc36bda8318 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-18-15_279527351/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 746.239466422615, + -1242.8700667391245, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 747.739466422615, + -1245.4681429504778, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 749.239466422615, + -1248.0662191618312, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 750.739466422615, + -1250.6642953731846, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 752.239466422615, + -1253.262371584538, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 753.739466422615, + -1255.8604477958913, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 755.239466422615, + -1258.4585240072447, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 756.739466422615, + -1261.056600218598, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 758.239466422615, + -1263.6546764299515, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 758.239466422615, + -1263.6546764299515, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 760.8375426339683, + -1265.1546764299515, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 763.4356188453216, + -1266.6546764299515, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 766.033695056675, + -1268.1546764299515, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 768.6317712680284, + -1269.6546764299515, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 771.2298474793818, + -1271.1546764299515, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 773.8279236907351, + -1272.6546764299515, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 776.4259999020885, + -1274.1546764299515, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 776.4259999020885, + -1274.1546764299515, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 777.9259999020885, + -1276.7527526413048, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 779.4259999020885, + -1279.3508288526582, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 780.9259999020885, + -1281.9489050640116, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 800.0, + -1304.0, + 163.632 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-19-16_297785900/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-19-16_297785900/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04c44ea8e0d23442629b211ee6a65df44cc71c5b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-19-16_297785900/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -114.84678394878704, + 40.51883041964689, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -116.34678394878704, + 43.116906631000205, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -117.84678394878704, + 45.71498284235352, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -119.34678394878704, + 48.31305905370684, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -120.84678394878704, + 50.91113526506015, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -122.34678394878704, + 53.50921147641347, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -123.84678394878704, + 56.107287687766785, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -125.34678394878704, + 58.7053638991201, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -125.34678394878704, + 58.7053638991201, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -125.34678394878704, + 61.7053638991201, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -125.34678394878704, + 64.7053638991201, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -125.34678394878704, + 67.7053638991201, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -125.34678394878704, + 70.7053638991201, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -125.34678394878704, + 73.7053638991201, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -125.34678394878704, + 76.7053638991201, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -125.34678394878704, + 79.7053638991201, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -125.34678394878704, + 79.7053638991201, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -126.84678394878704, + 82.30344011047342, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 116.0, + 204.047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-19-48_1396028861/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-19-48_1396028861/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a944c69b89ee87079a7c500aab5877717bf1782 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-19-48_1396028861/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -49.64953386601602, + 484.00772272866914, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -48.14953386601602, + 486.60579894002245, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -46.64953386601602, + 489.20387515137577, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -45.14953386601602, + 491.8019513627291, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -43.64953386601602, + 494.4000275740824, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -42.14953386601602, + 496.9981037854357, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -40.64953386601602, + 499.59617999678903, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -39.14953386601602, + 502.19425620814235, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -37.64953386601602, + 504.79233241949566, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -36.14953386601602, + 507.390408630849, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -34.64953386601602, + 509.9884848422023, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -33.14953386601602, + 512.5865610535557, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -31.64953386601602, + 515.184637264909, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -30.14953386601602, + 517.7827134762624, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -28.64953386601602, + 520.3807896876158, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -27.14953386601602, + 522.9788658989692, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -27.14953386601602, + 522.9788658989692, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -24.551457654662705, + 524.4788658989692, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -21.95338144330939, + 525.9788658989692, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4.0, + 564.0, + 235.27 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-26-39_1682367563/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-26-39_1682367563/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..790f7c8ebf83fae866003febd3b4d85a73cfffa6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-26-39_1682367563/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -107.75727788759357, + 20.553810085053016, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -109.25727788759357, + 23.15188629640633, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -110.75727788759357, + 25.749962507759648, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -112.25727788759357, + 28.348038719112964, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -113.75727788759357, + 30.94611493046628, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -115.25727788759357, + 33.544191141819596, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -116.75727788759357, + 36.14226735317291, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -118.25727788759357, + 38.74034356452623, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -119.75727788759357, + 41.338419775879544, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -121.25727788759357, + 43.93649598723286, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -122.75727788759357, + 46.534572198586176, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -124.25727788759357, + 49.13264840993949, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -125.75727788759357, + 51.73072462129281, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -127.25727788759357, + 54.328800832646124, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -127.25727788759357, + 54.328800832646124, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -127.25727788759357, + 57.328800832646124, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -127.25727788759357, + 60.328800832646124, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -127.25727788759357, + 63.328800832646124, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -127.25727788759357, + 66.32880083264612, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -127.25727788759357, + 69.32880083264612, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -127.25727788759357, + 72.32880083264612, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -127.25727788759357, + 75.32880083264612, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -127.25727788759357, + 78.32880083264612, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -127.25727788759357, + 81.32880083264612, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -127.25727788759357, + 84.32880083264612, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 116.0, + 204.047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-27-13_954296984/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-27-13_954296984/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c4666328a5dbee88370368eba208f0077d28823 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-27-13_954296984/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -141.12895373602055, + 31.960028151692697, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -141.12895373602055, + 34.9600281516927, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -141.12895373602055, + 37.9600281516927, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -141.12895373602055, + 40.9600281516927, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -141.12895373602055, + 43.9600281516927, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -141.12895373602055, + 46.9600281516927, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -141.12895373602055, + 49.9600281516927, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -141.12895373602055, + 52.9600281516927, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -141.12895373602055, + 55.9600281516927, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -141.12895373602055, + 58.9600281516927, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -141.12895373602055, + 61.9600281516927, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -141.12895373602055, + 64.9600281516927, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -141.12895373602055, + 67.9600281516927, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -141.12895373602055, + 70.9600281516927, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -141.12895373602055, + 70.9600281516927, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -139.62895373602055, + 73.55810436304601, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -138.12895373602055, + 76.15618057439933, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 116.0, + 204.047 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-30-14_1129707775/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-30-14_1129707775/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d94b0beb812c9d709f8f83874a46dfc87ecd628d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-30-14_1129707775/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 920.9625133835799, + -1748.4770895869742, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 918.3644371722266, + -1749.9770895869742, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 915.7663609608733, + -1751.4770895869742, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 913.1682847495199, + -1752.9770895869742, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 910.5702085381665, + -1754.4770895869742, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 907.9721323268132, + -1755.9770895869742, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 905.3740561154598, + -1757.4770895869742, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 902.7759799041064, + -1758.9770895869742, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 900.177903692753, + -1760.4770895869742, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 897.5798274813997, + -1761.9770895869742, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 894.9817512700463, + -1763.4770895869742, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 892.3836750586929, + -1764.9770895869742, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 889.7855988473395, + -1766.4770895869742, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 844.0, + -1788.0, + 165.84 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-33-45_133286977/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-33-45_133286977/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e310d5988bc5cd2307a81c526318ecaf76d814b7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-33-45_133286977/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 516.5309528393547, + 952.7194426750967, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 513.9328766280014, + 951.2194426750967, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 511.3348004166481, + 949.7194426750967, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 508.73672420529476, + 948.2194426750967, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 506.13864799394145, + 946.7194426750967, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 503.54057178258813, + 945.2194426750967, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 500.9424955712348, + 943.7194426750967, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 498.3444193598815, + 942.2194426750967, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 495.7463431485282, + 940.7194426750967, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 493.14826693717487, + 939.2194426750967, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 490.55019072582155, + 937.7194426750967, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 487.95211451446824, + 936.2194426750967, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 485.3540383031149, + 934.7194426750967, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 482.7559620917616, + 933.2194426750967, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 482.7559620917616, + 933.2194426750967, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 481.2559620917616, + 930.6213664637435, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 479.7559620917616, + 928.0232902523901, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 478.2559620917616, + 925.4252140410367, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 476.7559620917616, + 922.8271378296834, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 475.2559620917616, + 920.22906161833, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 452.0, + 904.0, + 171.245 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-4-0_442482781/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-4-0_442482781/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6ed20c981010056eb47ac36a084e2790eda9f468 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-4-0_442482781/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 427.4567510663173, + 58.76029482628178, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 424.4567510663173, + 58.76029482628178, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 421.4567510663173, + 58.76029482628178, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 418.4567510663173, + 58.76029482628178, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 415.4567510663173, + 58.76029482628178, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.0, + 72.0, + 400.578 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-45-55_642112110/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-45-55_642112110/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80ae166434ce4302580f41b75e82a159dd893fbf --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-45-55_642112110/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -22.449756382610726, + 653.4873120060286, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -20.949756382610726, + 650.8892357946752, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -19.449756382610726, + 648.2911595833218, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -17.949756382610726, + 645.6930833719684, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -16.449756382610726, + 643.0950071606151, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -14.949756382610726, + 640.4969309492617, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -13.449756382610726, + 637.8988547379083, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -11.949756382610726, + 635.300778526555, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -10.449756382610726, + 632.7027023152016, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -8.949756382610726, + 630.1046261038482, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -7.449756382610726, + 627.5065498924948, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -7.449756382610726, + 627.5065498924948, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -7.449756382610726, + 624.5065498924948, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -7.449756382610726, + 621.5065498924948, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -7.449756382610726, + 618.5065498924948, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -7.449756382610726, + 615.5065498924948, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -7.449756382610726, + 612.5065498924948, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -7.449756382610726, + 609.5065498924948, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -7.449756382610726, + 606.5065498924948, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -7.449756382610726, + 603.5065498924948, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -7.449756382610726, + 600.5065498924948, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -7.449756382610726, + 597.5065498924948, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4.0, + 564.0, + 235.27 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-46-52_33252481/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-46-52_33252481/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2243364c82b6eda155bf59a6cc8968c4bfbd4f4b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-46-52_33252481/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 115.62775061548979, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 118.62775061548979, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 121.62775061548979, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 124.62775061548979, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 127.62775061548979, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 130.6277506154898, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 133.6277506154898, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 136.6277506154898, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 139.6277506154898, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 142.6277506154898, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 145.6277506154898, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 148.6277506154898, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 151.6277506154898, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 154.6277506154898, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 157.6277506154898, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 160.6277506154898, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 163.6277506154898, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 166.6277506154898, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 169.6277506154898, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 172.6277506154898, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 175.6277506154898, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 178.6277506154898, + 186.15698391080568, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 181.6277506154898, + 186.15698391080568, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 196.0, + 184.0, + 386.26 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-48-56_1066075704/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-48-56_1066075704/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..52cff9b8052dae3b99f381509554c0669a6898e3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-48-56_1066075704/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -60.756957506417805, + 179.44427909654755, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -59.256957506417805, + 176.84620288519423, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -57.756957506417805, + 174.24812667384091, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -56.256957506417805, + 171.6500504624876, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -54.756957506417805, + 169.05197425113428, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -53.256957506417805, + 166.45389803978097, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -53.256957506417805, + 166.45389803978097, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -53.256957506417805, + 163.45389803978097, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -53.256957506417805, + 160.45389803978097, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -53.256957506417805, + 157.45389803978097, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -53.256957506417805, + 154.45389803978097, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -53.256957506417805, + 151.45389803978097, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -53.256957506417805, + 148.45389803978097, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -53.256957506417805, + 145.45389803978097, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -40.0, + 104.0, + 229.562 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-56-25_1543678155/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-56-25_1543678155/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..daa8700ca4f68c69cd119f27567cafd0bb2180fe --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-56-25_1543678155/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -4.615997046159315, + 506.56743938095616, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -3.1159970461593143, + 509.1655155923095, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1.6159970461593138, + 511.7635918036628, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -0.11599704615931339, + 514.3616680150161, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1.384002953840687, + 516.9597442263694, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2.8840029538406875, + 519.5578204377227, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4.384002953840688, + 522.1558966490761, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 5.884002953840689, + 524.7539728604295, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196607 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 7.384002953840689, + 527.3520490717829, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 8.884002953840689, + 529.9501252831362, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 10.384002953840689, + 532.5482014944896, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 11.884002953840689, + 535.146277705843, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.0, + 576.0, + 235.275 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-58-15_1486235104/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-58-15_1486235104/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..870bc4da857dda4b1d32f534fe6d19413e3dd2a6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-58-15_1486235104/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 449.8808297729347, + 660.4610801795043, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 448.3808297729347, + 663.0591563908577, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 446.8808297729347, + 665.657232602211, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 445.3808297729347, + 668.2553088135644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 443.8808297729347, + 670.8533850249178, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 442.3808297729347, + 673.4514612362711, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 440.8808297729347, + 676.0495374476245, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 439.3808297729347, + 678.6476136589779, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 437.8808297729347, + 681.2456898703313, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 436.3808297729347, + 683.8437660816846, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 434.8808297729347, + 686.441842293038, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 433.3808297729347, + 689.0399185043914, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 431.8808297729347, + 691.6379947157448, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 430.3808297729347, + 694.2360709270981, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 428.8808297729347, + 696.8341471384515, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 428.8808297729347, + 696.8341471384515, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 426.2827535615814, + 698.3341471384515, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 400.0, + 736.0, + 172.46 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-6-50_531352976/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-6-50_531352976/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1200e576aefacecadb815aaa3b630fcaa81e2280 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-6-50_531352976/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 798.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 801.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 804.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 807.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 810.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 813.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 816.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 819.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 822.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 825.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 828.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 831.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 834.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 837.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 840.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 843.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 846.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 849.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 852.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 855.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 858.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 861.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 861.3460231604201, + -1676.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 863.9440993717735, + -1677.8290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 866.5421755831269, + -1679.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 869.1402517944803, + -1680.8290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 871.7383280058336, + -1682.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 874.336404217187, + -1683.8290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 876.9344804285404, + -1685.3290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 879.5325566398938, + -1686.8290871275212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 882.1306328512471, + -1688.3290871275212, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 896.0, + -1688.0, + 168.713 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-8-57_1777483316/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-8-57_1777483316/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fe4371eedcbb671336bdb3515aa582e2ed3dc753 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_21-8-57_1777483316/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -188.70650091404642, + 145.39639866468667, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -186.1084247026931, + 143.89639866468667, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -183.51034849133978, + 142.39639866468667, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -180.91227227998647, + 140.89639866468667, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -178.31419606863315, + 139.39639866468667, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -175.71611985727984, + 137.89639866468667, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -173.11804364592652, + 136.39639866468667, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -170.5199674345732, + 134.89639866468667, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -167.9218912232199, + 133.39639866468667, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -165.32381501186657, + 131.89639866468667, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 116.0, + 204.047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-13-41_1198911786/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-13-41_1198911786/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c86c1506ce9adbece3b5668519a3ee310d162d6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-13-41_1198911786/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -223.01612971044148, + 151.95060078969487, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -220.01612971044148, + 151.95060078969487, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -217.01612971044148, + 151.95060078969487, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -214.01612971044148, + 151.95060078969487, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -211.01612971044148, + 151.95060078969487, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -208.01612971044148, + 151.95060078969487, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -205.01612971044148, + 151.95060078969487, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -202.01612971044148, + 151.95060078969487, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -199.01612971044148, + 151.95060078969487, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -196.01612971044148, + 151.95060078969487, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -193.01612971044148, + 151.95060078969487, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -190.01612971044148, + 151.95060078969487, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -190.01612971044148, + 151.95060078969487, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -190.01612971044148, + 151.95060078969487, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -188.51612971044148, + 149.35252457834156, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -187.01612971044148, + 146.75444836698824, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -185.51612971044148, + 144.15637215563493, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -184.01612971044148, + 141.5582959442816, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -182.51612971044148, + 138.9602197329283, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -181.01612971044148, + 136.36214352157498, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -179.51612971044148, + 133.76406731022166, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -179.51612971044148, + 133.76406731022166, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -176.91805349908816, + 132.26406731022166, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -174.31997728773484, + 130.76406731022166, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -171.72190107638153, + 129.26406731022166, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -169.1238248650282, + 127.76406731022166, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 116.0, + 204.047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-16-26_429857344/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-16-26_429857344/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05cdf956847334399706d7d7bbf6536bafba441f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-16-26_429857344/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 605.880887990011, + 997.4037419033425, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 607.380887990011, + 994.8056656919891, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 608.880887990011, + 992.2075894806358, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 610.380887990011, + 989.6095132692824, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 611.880887990011, + 987.011437057929, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 613.380887990011, + 984.4133608465756, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 614.880887990011, + 981.8152846352223, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 616.380887990011, + 979.2172084238689, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 617.880887990011, + 976.6191322125155, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 619.380887990011, + 974.0210560011622, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 620.880887990011, + 971.4229797898088, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 620.880887990011, + 971.4229797898088, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 623.4789642013643, + 969.9229797898088, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 626.0770404127177, + 968.4229797898088, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 628.675116624071, + 966.9229797898088, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 631.2731928354244, + 965.4229797898088, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 633.8712690467778, + 963.9229797898088, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 656.0, + 936.0, + 215.703 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-16-57_753554421/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-16-57_753554421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f8933883c0a64974d5b372ae083bc97380020b0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-16-57_753554421/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 817.9144655968462, + -1724.7342017024118, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 819.4144655968462, + -1727.3322779137652, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 820.9144655968462, + -1729.9303541251186, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 822.4144655968462, + -1732.528430336472, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 823.9144655968462, + -1735.1265065478253, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 825.4144655968462, + -1737.7245827591787, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 826.9144655968462, + -1740.322658970532, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 828.4144655968462, + -1742.9207351818854, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 829.9144655968462, + -1745.5188113932388, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 831.4144655968462, + -1748.1168876045922, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 832.9144655968462, + -1750.7149638159456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 834.4144655968462, + -1753.313040027299, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 835.9144655968462, + -1755.9111162386523, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 837.4144655968462, + -1758.5091924500057, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 837.4144655968462, + -1758.5091924500057, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 837.4144655968462, + -1761.5091924500057, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 837.4144655968462, + -1764.5091924500057, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 837.4144655968462, + -1767.5091924500057, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 837.4144655968462, + -1770.5091924500057, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 837.4144655968462, + -1773.5091924500057, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 844.0, + -1788.0, + 165.84 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-19-47_1025042772/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-19-47_1025042772/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d3da8c4c1ddecb48630f4a8976a0ad38cffc9bd1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-19-47_1025042772/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 871.183414129817, + -1704.2236919650913, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 869.683414129817, + -1706.8217681764447, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 868.183414129817, + -1709.419844387798, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 866.683414129817, + -1712.0179205991515, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 865.183414129817, + -1714.6159968105048, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 863.683414129817, + -1717.2140730218582, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 862.183414129817, + -1719.8121492332116, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 860.683414129817, + -1722.410225444565, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 859.183414129817, + -1725.0083016559183, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 857.683414129817, + -1727.6063778672717, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 856.183414129817, + -1730.204454078625, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 854.683414129817, + -1732.8025302899784, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 853.183414129817, + -1735.4006065013318, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 851.683414129817, + -1737.9986827126852, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 850.183414129817, + -1740.5967589240386, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 850.183414129817, + -1740.5967589240386, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 850.183414129817, + -1743.5967589240386, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 850.183414129817, + -1746.5967589240386, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 850.183414129817, + -1749.5967589240386, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 850.183414129817, + -1752.5967589240386, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 850.183414129817, + -1755.5967589240386, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 850.183414129817, + -1758.5967589240386, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 850.183414129817, + -1761.5967589240386, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 850.183414129817, + -1764.5967589240386, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 850.183414129817, + -1767.5967589240386, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 844.0, + -1788.0, + 165.84 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-33-2_1243018184/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-33-2_1243018184/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b46f670490a8cd86d8a6e54c9165e94f12b11fc --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-33-2_1243018184/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 856.4304389193215, + -1274.6541447813654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 853.8323627079683, + -1276.1541447813654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 851.2342864966149, + -1277.6541447813654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 848.6362102852615, + -1279.1541447813654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 846.0381340739082, + -1280.6541447813654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 843.4400578625548, + -1282.1541447813654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 840.8419816512014, + -1283.6541447813654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 838.243905439848, + -1285.1541447813654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 835.6458292284947, + -1286.6541447813654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 833.0477530171413, + -1288.1541447813654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 830.4496768057879, + -1289.6541447813654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 827.8516005944346, + -1291.1541447813654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 825.2535243830812, + -1292.6541447813654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 822.6554481717278, + -1294.1541447813654, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 820.0573719603744, + -1295.6541447813654, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 800.0, + -1304.0, + 163.632 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-35-45_1606193485/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-35-45_1606193485/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be9b6c800bc160c4eefb7a1f9fcc5b6dd4eb7402 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-35-45_1606193485/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 331.0128487537613, + 763.479994553482, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 328.0128487537613, + 763.479994553482, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 325.0128487537613, + 763.479994553482, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 322.0128487537613, + 763.479994553482, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 319.0128487537613, + 763.479994553482, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 316.0128487537613, + 763.479994553482, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 313.0128487537613, + 763.479994553482, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 310.0128487537613, + 763.479994553482, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 307.0128487537613, + 763.479994553482, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 304.0128487537613, + 763.479994553482, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 301.0128487537613, + 763.479994553482, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 301.0128487537613, + 763.479994553482, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 298.414772542408, + 764.979994553482, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 295.8166963310547, + 766.479994553482, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 293.21862011970137, + 767.979994553482, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 290.62054390834805, + 769.479994553482, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 252.0, + 780.0, + 191.626 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-40-42_906183458/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-40-42_906183458/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6d4262280191e8a805a6ca0596a8d877ab780ff --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-40-42_906183458/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 844.5828958624968, + -1508.2864500273893, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 843.0828958624968, + -1510.8845262387426, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 841.5828958624968, + -1513.482602450096, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 812.0, + -1560.0, + 163.632 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-41-13_682900658/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-41-13_682900658/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4df05348832bd44b0bdcfee6f40df9d3c4f9647a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-41-13_682900658/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 342.51232378262415, + 779.3865571695414, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 342.51232378262415, + 782.3865571695414, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 342.51232378262415, + 785.3865571695414, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 342.51232378262415, + 788.3865571695414, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 342.51232378262415, + 791.3865571695414, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 342.51232378262415, + 794.3865571695414, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 342.51232378262415, + 797.3865571695414, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 342.51232378262415, + 800.3865571695414, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 342.51232378262415, + 803.3865571695414, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 342.51232378262415, + 806.3865571695414, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 342.51232378262415, + 809.3865571695414, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 342.51232378262415, + 812.3865571695414, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.0, + 848.0, + 180.724 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-46-46_1945972417/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-46-46_1945972417/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..101be113c40325259c71d31ed4d571ed516d24c6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-46-46_1945972417/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 884.8664563010645, + -1618.0507560202773, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 884.8664563010645, + -1621.0507560202773, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 884.8664563010645, + -1624.0507560202773, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 896.0, + -1688.0, + 168.713 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-7-26_457615859/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-7-26_457615859/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c6dd9c1889d74eb325c454b140844751f0bda986 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-7-26_457615859/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 262.5207060538273, + 835.0846618473415, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 265.5207060538273, + 835.0846618473415, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 268.5207060538273, + 835.0846618473415, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 271.5207060538273, + 835.0846618473415, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 274.5207060538273, + 835.0846618473415, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 277.5207060538273, + 835.0846618473415, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 280.5207060538273, + 835.0846618473415, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 283.5207060538273, + 835.0846618473415, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 286.5207060538273, + 835.0846618473415, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 289.5207060538273, + 835.0846618473415, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 292.5207060538273, + 835.0846618473415, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 295.5207060538273, + 835.0846618473415, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 298.5207060538273, + 835.0846618473415, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 301.5207060538273, + 835.0846618473415, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 304.5207060538273, + 835.0846618473415, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 307.5207060538273, + 835.0846618473415, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 307.5207060538273, + 835.0846618473415, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 310.11878226518064, + 836.5846618473415, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 312.71685847653396, + 838.0846618473415, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 315.3149346878873, + 839.5846618473415, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 317.9130108992406, + 841.0846618473415, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.0, + 848.0, + 180.724 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-8-45_665680297/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-8-45_665680297/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..00752e0d0a20a1afea70213e658737133b93fe89 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-8-45_665680297/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 883.3069601840134, + -1283.8649203181676, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 881.8069601840134, + -1286.462996529521, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 880.3069601840134, + -1289.0610727408744, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 880.3069601840134, + -1289.0610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 877.70888397266, + -1290.5610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 875.1108077613067, + -1292.0610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 872.5127315499533, + -1293.5610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 869.9146553385999, + -1295.0610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 867.3165791272465, + -1296.5610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 864.7185029158932, + -1298.0610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 862.1204267045398, + -1299.5610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 859.5223504931864, + -1301.0610727408744, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 859.5223504931864, + -1301.0610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 856.5223504931864, + -1301.0610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 853.5223504931864, + -1301.0610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 850.5223504931864, + -1301.0610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 847.5223504931864, + -1301.0610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 844.5223504931864, + -1301.0610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 841.5223504931864, + -1301.0610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 838.5223504931864, + -1301.0610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 835.5223504931864, + -1301.0610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 832.5223504931864, + -1301.0610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 829.5223504931864, + -1301.0610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 826.5223504931864, + -1301.0610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 823.5223504931864, + -1301.0610727408744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 820.5223504931864, + -1301.0610727408744, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 800.0, + -1304.0, + 163.632 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-9-13_1367743294/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-9-13_1367743294/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7e9620d5100b548de7cd63854a3ec644b8cabdbd --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_22-9-13_1367743294/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 733.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 736.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 739.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 742.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 745.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 748.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 751.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 754.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 757.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 760.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 763.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 766.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 769.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 772.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 775.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 778.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 781.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 784.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 787.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 790.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 793.0735934710375, + -1557.8266968542177, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 812.0, + -1560.0, + 163.632 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-1-23_2138704485/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-1-23_2138704485/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e2b671ddcc917dd28fd212ef3332d5ca4cc0f308 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-1-23_2138704485/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 159.7423904280269, + 818.4185016338325, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 157.1443142166736, + 816.9185016338325, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 154.54623800532028, + 815.4185016338325, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 151.94816179396696, + 813.9185016338325, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 149.35008558261364, + 812.4185016338325, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 146.75200937126033, + 810.9185016338325, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 144.153933159907, + 809.4185016338325, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 141.5558569485537, + 807.9185016338325, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 138.95778073720038, + 806.4185016338325, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 136.35970452584706, + 804.9185016338325, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 136.35970452584706, + 804.9185016338325, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 133.35970452584706, + 804.9185016338325, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 130.35970452584706, + 804.9185016338325, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 127.35970452584706, + 804.9185016338325, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 124.35970452584706, + 804.9185016338325, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 121.35970452584706, + 804.9185016338325, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 118.35970452584706, + 804.9185016338325, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 115.35970452584706, + 804.9185016338325, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 112.35970452584706, + 804.9185016338325, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 84.0, + 796.0, + 203.339 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-25-23_1049561859/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-25-23_1049561859/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd3a74647916aebd300ea551b6ed1d19a4761baa --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-25-23_1049561859/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 317.37043416219467, + 772.2059979301673, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 320.37043416219467, + 772.2059979301673, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 323.37043416219467, + 772.2059979301673, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 326.37043416219467, + 772.2059979301673, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 329.37043416219467, + 772.2059979301673, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 329.37043416219467, + 772.2059979301673, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 331.968510373548, + 770.7059979301673, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 334.5665865849013, + 769.2059979301673, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 337.1646627962546, + 767.7059979301673, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 339.76273900760793, + 766.2059979301673, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 342.36081521896125, + 764.7059979301673, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 344.95889143031457, + 763.2059979301673, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 347.5569676416679, + 761.7059979301673, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 350.1550438530212, + 760.2059979301673, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 352.7531200643745, + 758.7059979301673, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 355.35119627572783, + 757.2059979301673, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 357.94927248708115, + 755.7059979301673, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 360.54734869843446, + 754.2059979301673, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 363.1454249097878, + 752.7059979301673, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 365.7435011211411, + 751.2059979301673, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 400.0, + 736.0, + 172.46 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-29-44_903633726/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-29-44_903633726/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..66cd92410711173334a4b9596d45c048c26e8115 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-29-44_903633726/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 467.9568891578398, + 813.7411136949672, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 467.9568891578398, + 816.7411136949672, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 467.9568891578398, + 819.7411136949672, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 467.9568891578398, + 822.7411136949672, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 467.9568891578398, + 825.7411136949672, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 467.9568891578398, + 828.7411136949672, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 467.9568891578398, + 831.7411136949672, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 467.9568891578398, + 834.7411136949672, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 467.9568891578398, + 837.7411136949672, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 467.9568891578398, + 840.7411136949672, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 467.9568891578398, + 843.7411136949672, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 467.9568891578398, + 846.7411136949672, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 467.9568891578398, + 849.7411136949672, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 467.9568891578398, + 852.7411136949672, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 467.9568891578398, + 855.7411136949672, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 467.9568891578398, + 855.7411136949672, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 466.4568891578398, + 858.3391899063206, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 464.9568891578398, + 860.937266117674, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 463.4568891578398, + 863.5353423290273, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 461.9568891578398, + 866.1334185403807, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 460.4568891578398, + 868.7314947517341, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 458.9568891578398, + 871.3295709630875, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 452.0, + 904.0, + 171.245 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-3-50_1793895841/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-3-50_1793895841/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa7f359b851616de8d583f682f682fffd1d220b4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-3-50_1793895841/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 196.28056359739088, + 136.48765836058016, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 197.78056359739088, + 139.08573457193347, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 199.28056359739088, + 141.6838107832868, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 200.78056359739088, + 144.2818869946401, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 232.0, + 212.0, + 376.005 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-35-6_1335757408/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-35-6_1335757408/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3892220b2dcc5d9175758128d532207c0c4ec046 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-35-6_1335757408/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 978.1311189784126, + -1727.869482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 975.5330427670592, + -1726.369482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 972.9349665557058, + -1724.869482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 970.3368903443525, + -1723.369482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 967.7388141329991, + -1721.869482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 965.1407379216457, + -1720.369482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 962.5426617102924, + -1718.869482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 959.944585498939, + -1717.369482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 957.3465092875856, + -1715.869482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 954.7484330762322, + -1714.369482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 952.1503568648789, + -1712.869482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 949.5522806535255, + -1711.369482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 946.9542044421721, + -1709.869482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 944.3561282308187, + -1708.369482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 941.7580520194654, + -1706.869482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 939.159975808112, + -1705.369482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 936.5618995967586, + -1703.869482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 933.9638233854052, + -1702.369482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 931.3657471740519, + -1700.869482300644, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 931.3657471740519, + -1700.869482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 928.3657471740519, + -1700.869482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 925.3657471740519, + -1700.869482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 922.3657471740519, + -1700.869482300644, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 919.3657471740519, + -1700.869482300644, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 896.0, + -1688.0, + 168.713 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-39-11_19063328/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-39-11_19063328/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b49dddfc6ef1967a593c9f64c23c2f9f3b67e9b9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-39-11_19063328/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 831.1039455039864, + -1222.672214207609, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 828.5058692926332, + -1221.172214207609, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 825.9077930812798, + -1219.672214207609, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 823.3097168699264, + -1218.172214207609, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 823.3097168699264, + -1218.172214207609, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 821.8097168699264, + -1215.5741379962556, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 820.3097168699264, + -1212.9760617849022, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 768.0, + -1160.0, + 163.63 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-39-22_1833469976/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-39-22_1833469976/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b0bc2399344bde3be6b2ce9d86a3ad508a8ec050 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-39-22_1833469976/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 44.15320852588357, + -56.34205199874397, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 41.555132314530255, + -54.84205199874397, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 38.95705610317694, + -53.34205199874397, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 36.35897989182362, + -51.84205199874397, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 33.76090368047031, + -50.34205199874397, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 31.16282746911699, + -48.84205199874397, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 28.564751257763675, + -47.34205199874397, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 25.96667504641036, + -45.84205199874397, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 23.368598835057043, + -44.34205199874397, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 20.770522623703727, + -42.84205199874397, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 18.17244641235041, + -41.34205199874397, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 15.574370200997095, + -39.84205199874397, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 15.574370200997095, + -39.84205199874397, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 12.574370200997095, + -39.84205199874397, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 9.574370200997095, + -39.84205199874397, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 6.574370200997095, + -39.84205199874397, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 3.5743702009970946, + -39.84205199874397, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -36.0, + -28.0, + 212.257 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-40-54_817482649/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-40-54_817482649/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b193ae99726b54d861ee6bf1e0cb9d3062029e4a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-40-54_817482649/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 104.2173215291574, + 688.658348156898, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 107.2173215291574, + 688.658348156898, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 110.2173215291574, + 688.658348156898, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 110.2173215291574, + 688.658348156898, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 112.81539774051072, + 690.158348156898, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 115.41347395186403, + 691.658348156898, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 118.01155016321735, + 693.158348156898, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 120.60962637457067, + 694.658348156898, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 164.0, + 708.0, + 213.945 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-5-33_351450250/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-5-33_351450250/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..446d79c7f44fdc6a896d783221609f7f0e60e5f5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-5-33_351450250/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 635.6867860021395, + 1025.0790613425422, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 637.1867860021395, + 1022.4809851311888, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 638.6867860021395, + 1019.8829089198355, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 640.1867860021395, + 1017.2848327084821, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 641.6867860021395, + 1014.6867564971287, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 643.1867860021395, + 1012.0886802857754, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 644.6867860021395, + 1009.490604074422, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 644.6867860021395, + 1009.490604074422, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 644.6867860021395, + 1006.490604074422, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 644.6867860021395, + 1003.490604074422, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 644.6867860021395, + 1000.490604074422, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 644.6867860021395, + 997.490604074422, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 644.6867860021395, + 994.490604074422, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 644.6867860021395, + 991.490604074422, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 644.6867860021395, + 988.490604074422, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 644.6867860021395, + 985.490604074422, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 644.6867860021395, + 982.490604074422, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 644.6867860021395, + 979.490604074422, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 644.6867860021395, + 976.490604074422, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 644.6867860021395, + 973.490604074422, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 644.6867860021395, + 970.490604074422, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 644.6867860021395, + 967.490604074422, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 644.6867860021395, + 967.490604074422, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 644.6867860021395, + 967.490604074422, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 647.2848622134927, + 965.990604074422, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982989 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 656.0, + 936.0, + 215.703 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-50-56_203030386/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-50-56_203030386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..149289e60e0223cd43ec30bce0da6d27b6755bf0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-50-56_203030386/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 594.7949239930601, + -1045.0699337217359, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 597.7949239930601, + -1045.0699337217359, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 600.7949239930601, + -1045.0699337217359, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 603.7949239930601, + -1045.0699337217359, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 603.7949239930601, + -1045.0699337217359, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 606.3930002044135, + -1046.5699337217359, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 608.9910764157669, + -1048.0699337217359, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 611.5891526271203, + -1049.5699337217359, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 614.1872288384736, + -1051.0699337217359, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 616.785305049827, + -1052.5699337217359, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 619.3833812611804, + -1054.0699337217359, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 621.9814574725337, + -1055.5699337217359, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 624.5795336838871, + -1057.0699337217359, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 627.1776098952405, + -1058.5699337217359, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 629.7756861065939, + -1060.0699337217359, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 632.3737623179472, + -1061.5699337217359, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 634.9718385293006, + -1063.0699337217359, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 637.569914740654, + -1064.5699337217359, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 640.1679909520074, + -1066.0699337217359, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 684.0, + -1088.0, + 165.83 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-52-33_128419117/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-52-33_128419117/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34fd3a4970184e932821429d5519542eafbcd94c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-10_23-52-33_128419117/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 56.714023956502416, + 614.1822372762158, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 54.1159477451491, + 612.6822372762158, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 51.517871533795784, + 611.1822372762158, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 48.91979532244247, + 609.6822372762158, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 46.32171911108915, + 608.1822372762158, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 46.32171911108915, + 608.1822372762158, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 44.82171911108915, + 605.5841610648624, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 43.32171911108915, + 602.986084853509, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 41.82171911108915, + 600.3880086421557, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4.0, + 564.0, + 235.27 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-1-5_2006420005/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-1-5_2006420005/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..efcca8ec857b50a30a5f29c6762114e4b04041cb --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-1-5_2006420005/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 727.5465261626098, + 907.773355514519, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 724.9484499512564, + 909.273355514519, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 722.350373739903, + 910.773355514519, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 719.7522975285497, + 912.273355514519, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 717.1542213171963, + 913.773355514519, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 714.5561451058429, + 915.273355514519, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 711.9580688944895, + 916.773355514519, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 709.3599926831362, + 918.273355514519, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 706.7619164717828, + 919.773355514519, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 704.1638402604294, + 921.273355514519, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 701.565764049076, + 922.773355514519, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 701.565764049076, + 922.773355514519, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 698.565764049076, + 922.773355514519, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 695.565764049076, + 922.773355514519, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 692.565764049076, + 922.773355514519, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 656.0, + 936.0, + 215.703 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-12-32_524581324/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-12-32_524581324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7e9a939e3e13754cf6cc82a7ef291276f3125028 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-12-32_524581324/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 278.95846244670406, + 194.6496913662108, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 276.36038623535075, + 196.1496913662108, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 273.76231002399743, + 197.6496913662108, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 271.1642338126441, + 199.1496913662108, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 268.5661576012908, + 200.6496913662108, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 265.9680813899375, + 202.1496913662108, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 263.37000517858417, + 203.6496913662108, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 263.37000517858417, + 203.6496913662108, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 260.37000517858417, + 203.6496913662108, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 257.37000517858417, + 203.6496913662108, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 254.37000517858417, + 203.6496913662108, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 251.37000517858417, + 203.6496913662108, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 200.0, + 216.0, + 361.985 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-17-4_1420599300/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-17-4_1420599300/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90fcd2a5ff47786e52a2bfbbb8700a32b7d64001 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-17-4_1420599300/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 94.08989029528527, + 580.0678620250491, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 92.58989029528527, + 582.6659382364023, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 91.08989029528527, + 585.2640144477557, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 89.58989029528527, + 587.8620906591091, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 88.08989029528527, + 590.4601668704624, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 86.58989029528527, + 593.0582430818158, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 85.08989029528527, + 595.6563192931692, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 85.08989029528527, + 595.6563192931692, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 85.08989029528527, + 598.6563192931692, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 85.08989029528527, + 601.6563192931692, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 85.08989029528527, + 604.6563192931692, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + 660.0, + 189.14 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-41-11_1712268428/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-41-11_1712268428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..df1c6e0da774627e74e433829a7f76ffeaa94347 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-41-11_1712268428/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 140.55065074778895, + 283.7548566668775, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 142.05065074778895, + 281.1567804555242, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 143.55065074778895, + 278.5587042441709, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 145.05065074778895, + 275.96062803281757, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 146.55065074778895, + 273.36255182146425, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 148.05065074778895, + 270.76447561011094, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 149.55065074778895, + 268.1663993987576, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 151.05065074778895, + 265.5683231874043, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 152.55065074778895, + 262.970246976051, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 154.05065074778895, + 260.37217076469767, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 155.55065074778895, + 257.77409455334436, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 157.05065074778895, + 255.17601834199104, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 158.55065074778895, + 252.57794213063772, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 160.05065074778895, + 249.9798659192844, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 161.55065074778895, + 247.3817897079311, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 163.05065074778895, + 244.78371349657778, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 164.55065074778895, + 242.18563728522446, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 166.05065074778895, + 239.58756107387114, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 166.05065074778895, + 239.58756107387114, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 168.64872695914227, + 238.08756107387114, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 171.24680317049558, + 236.58756107387114, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 173.8448793818489, + 235.08756107387114, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 176.4429555932022, + 233.58756107387114, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 179.04103180455553, + 232.08756107387114, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 181.63910801590885, + 230.58756107387114, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 184.23718422726216, + 229.08756107387114, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 186.83526043861548, + 227.58756107387114, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 189.4333366499688, + 226.08756107387114, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 200.0, + 216.0, + 361.985 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-49-45_1180082199/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-49-45_1180082199/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6fa9c7fc6a9c56051d466a9c2be15f747fd6ddf6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-49-45_1180082199/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 59.915963612121594, + 579.4707078719546, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 59.915963612121594, + 582.4707078719546, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 59.915963612121594, + 585.4707078719546, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 59.915963612121594, + 588.4707078719546, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 59.915963612121594, + 591.4707078719546, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 59.915963612121594, + 594.4707078719546, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 59.915963612121594, + 597.4707078719546, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 59.915963612121594, + 600.4707078719546, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 59.915963612121594, + 603.4707078719546, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 59.915963612121594, + 606.4707078719546, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 59.915963612121594, + 606.4707078719546, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 61.415963612121594, + 609.068784083308, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 62.915963612121594, + 611.6668602946613, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 64.4159636121216, + 614.2649365060147, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + 660.0, + 189.14 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-52-47_1392537953/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-52-47_1392537953/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..33c75f8a5bd1a2b02676626557d1ffe856420286 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-52-47_1392537953/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 288.10171147537403, + 167.86256624137783, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 285.5036352640207, + 169.36256624137783, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 282.9055590526674, + 170.86256624137783, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 280.3074828413141, + 172.36256624137783, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 277.70940662996077, + 173.86256624137783, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 275.11133041860745, + 175.36256624137783, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 272.51325420725414, + 176.86256624137783, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 272.51325420725414, + 176.86256624137783, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 269.51325420725414, + 176.86256624137783, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 266.51325420725414, + 176.86256624137783, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 263.51325420725414, + 176.86256624137783, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 216.0, + 196.0, + 446.603 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-9-50_810882584/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-9-50_810882584/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e89401da7c48a3b94c7f716674281c5ebf170d35 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_0-9-50_810882584/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 99.69903592421164, + 859.9988526422069, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 99.69903592421164, + 856.9988526422069, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 99.69903592421164, + 853.9988526422069, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 99.69903592421164, + 850.9988526422069, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 99.69903592421164, + 847.9988526422069, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 99.69903592421164, + 844.9988526422069, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 99.69903592421164, + 844.9988526422069, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 98.19903592421164, + 842.4007764308535, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 96.69903592421164, + 839.8027002195001, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 95.19903592421164, + 837.2046240081468, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 93.69903592421164, + 834.6065477967934, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 92.19903592421164, + 832.00847158544, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 92.19903592421164, + 832.00847158544, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 92.19903592421164, + 829.00847158544, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948872 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 84.0, + 796.0, + 203.339 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-0-5_2085331055/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-0-5_2085331055/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8029c6d2ab20c687278870928273b8961b5cc99d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-0-5_2085331055/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 822.8034569257379, + -1388.479021582466, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 821.3034569257379, + -1385.8809453711126, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 819.8034569257379, + -1383.2828691597592, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 818.3034569257379, + -1380.6847929484059, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 816.8034569257379, + -1378.0867167370525, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 815.3034569257379, + -1375.488640525699, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 815.3034569257379, + -1375.488640525699, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 815.3034569257379, + -1372.488640525699, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 815.3034569257379, + -1369.488640525699, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 815.3034569257379, + -1366.488640525699, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 815.3034569257379, + -1363.488640525699, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 815.3034569257379, + -1360.488640525699, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 815.3034569257379, + -1357.488640525699, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 815.3034569257379, + -1357.488640525699, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 813.8034569257379, + -1354.8905643143457, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 800.0, + -1304.0, + 163.632 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-10-30_1268308970/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-10-30_1268308970/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d297ad113b70f6bdfe653889f0142f2c3309f02 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-10-30_1268308970/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 99.46865921279245, + 682.3271618893621, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 102.06673542414576, + 683.8271618893621, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 104.66481163549908, + 685.3271618893621, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 107.2628878468524, + 686.8271618893621, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 109.86096405820571, + 688.3271618893621, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 112.45904026955903, + 689.8271618893621, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 112.45904026955903, + 689.8271618893621, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 115.45904026955903, + 689.8271618893621, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 118.45904026955903, + 689.8271618893621, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 121.45904026955903, + 689.8271618893621, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 164.0, + 708.0, + 213.945 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-12-13_716952774/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-12-13_716952774/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4a01c709d33ded9e7f498124834733a67f5960aa --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-12-13_716952774/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 113.14723666856484, + 225.10407836203797, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 115.74531287991816, + 223.60407836203797, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 118.34338909127148, + 222.10407836203797, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 120.94146530262479, + 220.60407836203797, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 196.0, + 184.0, + 386.26 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-20-25_1350422715/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-20-25_1350422715/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aad5fe9524534f834988275ef063febcf0c0d1c4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-20-25_1350422715/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 282.1106406227268, + 161.47965366930663, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 279.5125644113735, + 162.97965366930663, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 276.9144882000202, + 164.47965366930663, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 274.31641198866686, + 165.97965366930663, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 271.71833577731354, + 167.47965366930663, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 269.1202595659602, + 168.97965366930663, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 266.5221833546069, + 170.47965366930663, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 266.5221833546069, + 170.47965366930663, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 263.5221833546069, + 170.47965366930663, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 260.5221833546069, + 170.47965366930663, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 257.5221833546069, + 170.47965366930663, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 254.5221833546069, + 170.47965366930663, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 251.5221833546069, + 170.47965366930663, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 248.5221833546069, + 170.47965366930663, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 196.0, + 184.0, + 386.26 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-23-52_1544048623/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-23-52_1544048623/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1247618641340185bf995f6f5a9ab8624b7aa538 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-23-52_1544048623/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 436.83782424223114, + 678.9204378354327, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 435.33782424223114, + 681.5185140467861, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 433.83782424223114, + 684.1165902581395, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 432.33782424223114, + 686.7146664694928, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 430.83782424223114, + 689.3127426808462, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 429.33782424223114, + 691.9108188921996, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 427.83782424223114, + 694.508895103553, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 426.33782424223114, + 697.1069713149063, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 424.83782424223114, + 699.7050475262597, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 400.0, + 736.0, + 172.46 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-26-7_1690075412/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-26-7_1690075412/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9bcffd07a9b3a5b781a702241a12a03040bc3e55 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-26-7_1690075412/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 339.7506112773149, + 772.3536048512824, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 339.7506112773149, + 775.3536048512824, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 339.7506112773149, + 778.3536048512824, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 339.7506112773149, + 781.3536048512824, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 339.7506112773149, + 784.3536048512824, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 339.7506112773149, + 787.3536048512824, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 339.7506112773149, + 790.3536048512824, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 339.7506112773149, + 793.3536048512824, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 339.7506112773149, + 796.3536048512824, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 339.7506112773149, + 799.3536048512824, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 339.7506112773149, + 802.3536048512824, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 339.7506112773149, + 805.3536048512824, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 339.7506112773149, + 808.3536048512824, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 339.7506112773149, + 811.3536048512824, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.0, + 848.0, + 180.724 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-31-40_411266131/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-31-40_411266131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..27ffacd41e53bae683c792c2815853ea0b4fa0ac --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-31-40_411266131/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 818.7995251881651, + -1123.2756143607335, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 816.2014489768119, + -1124.7756143607335, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 813.6033727654585, + -1126.2756143607335, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 811.0052965541051, + -1127.7756143607335, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 808.4072203427518, + -1129.2756143607335, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 805.8091441313984, + -1130.7756143607335, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 803.211067920045, + -1132.2756143607335, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 800.6129917086917, + -1133.7756143607335, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 798.0149154973383, + -1135.2756143607335, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 795.4168392859849, + -1136.7756143607335, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 792.8187630746315, + -1138.2756143607335, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 790.2206868632782, + -1139.7756143607335, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 787.6226106519248, + -1141.2756143607335, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 787.6226106519248, + -1141.2756143607335, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 786.1226106519248, + -1143.8736905720868, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 784.6226106519248, + -1146.4717667834402, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 783.1226106519248, + -1149.0698429947936, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 768.0, + -1160.0, + 163.63 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-34-10_184366026/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-34-10_184366026/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2348b68a7a2f22de7b5dc0d870ac117b73c0df5b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-34-10_184366026/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 321.69496843889243, + 183.20195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 319.0968922275391, + 184.70195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 316.4988160161858, + 186.20195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 313.9007398048325, + 187.70195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 311.30266359347917, + 189.20195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 308.70458738212585, + 190.70195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 306.10651117077254, + 192.20195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 303.5084349594192, + 193.70195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 300.9103587480659, + 195.20195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 298.3122825367126, + 196.70195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 295.71420632535927, + 198.20195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 293.11613011400595, + 199.70195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 290.51805390265264, + 201.20195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 287.9199776912993, + 202.70195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 285.321901479946, + 204.20195029216092, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 285.321901479946, + 204.20195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 282.321901479946, + 204.20195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 279.321901479946, + 204.20195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 276.321901479946, + 204.20195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 273.321901479946, + 204.20195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 270.321901479946, + 204.20195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 267.321901479946, + 204.20195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 264.321901479946, + 204.20195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 261.321901479946, + 204.20195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 258.321901479946, + 204.20195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 255.321901479946, + 204.20195029216092, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 252.321901479946, + 204.20195029216092, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 232.0, + 212.0, + 376.005 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-39-22_127758874/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-39-22_127758874/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ab8571e0fbae2af15151f690eeb369e036c25e9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_1-39-22_127758874/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 901.258504110713, + -1620.2610361262405, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 901.258504110713, + -1623.2610361262405, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 901.258504110713, + -1626.2610361262405, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 901.258504110713, + -1629.2610361262405, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 901.258504110713, + -1632.2610361262405, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 901.258504110713, + -1635.2610361262405, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 901.258504110713, + -1638.2610361262405, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 901.258504110713, + -1641.2610361262405, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 896.0, + -1688.0, + 168.713 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-1-28_1268374276/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-1-28_1268374276/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0fab795e793a41e36e9409f23f72e7a2e0d6271 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-1-28_1268374276/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 504.68561027297574, + 50.70060844850508, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 507.68561027297574, + 50.70060844850508, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 510.68561027297574, + 50.70060844850508, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 513.6856102729757, + 50.70060844850508, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 516.6856102729757, + 50.70060844850508, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 519.6856102729757, + 50.70060844850508, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 522.6856102729757, + 50.70060844850508, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 525.6856102729757, + 50.70060844850508, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 528.6856102729757, + 50.70060844850508, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 528.6856102729757, + 50.70060844850508, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 528.6856102729757, + 50.70060844850508, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 530.1856102729757, + 53.298684659858395, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 531.6856102729757, + 55.89676087121171, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 576.0, + 68.0, + 235.931 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-20-26_997517875/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-20-26_997517875/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1194b219927edc0132fa60a3a619e89bf7a2f2c3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-20-26_997517875/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 283.72161540937077, + 212.1736737112198, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 280.72161540937077, + 212.1736737112198, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 277.72161540937077, + 212.1736737112198, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 274.72161540937077, + 212.1736737112198, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 271.72161540937077, + 212.1736737112198, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 268.72161540937077, + 212.1736737112198, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 268.72161540937077, + 212.1736737112198, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 266.12353919801745, + 210.6736737112198, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 263.52546298666414, + 209.1736737112198, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 260.9273867753108, + 207.6736737112198, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 258.3293105639575, + 206.1736737112198, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 255.7312343526042, + 204.6736737112198, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 255.7312343526042, + 204.6736737112198, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 252.7312343526042, + 204.6736737112198, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 216.0, + 196.0, + 446.603 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-25-38_1065093662/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-25-38_1065093662/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0acf7aaf64fde55e0d0c88295f343ec208e32ca0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-25-38_1065093662/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 876.4721279141065, + -1531.1232709008368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 873.8740517027531, + -1532.6232709008368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 871.2759754913998, + -1534.1232709008368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 868.6778992800464, + -1535.6232709008368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 866.079823068693, + -1537.1232709008368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 863.4817468573397, + -1538.6232709008368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 860.8836706459863, + -1540.1232709008368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 858.2855944346329, + -1541.6232709008368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 855.6875182232795, + -1543.1232709008368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 853.0894420119262, + -1544.6232709008368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 850.4913658005728, + -1546.1232709008368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 847.8932895892194, + -1547.6232709008368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 845.295213377866, + -1549.1232709008368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 842.6971371665127, + -1550.6232709008368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 840.0990609551593, + -1552.1232709008368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 837.5009847438059, + -1553.6232709008368, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 837.5009847438059, + -1553.6232709008368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 834.5009847438059, + -1553.6232709008368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 831.5009847438059, + -1553.6232709008368, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 812.0, + -1560.0, + 163.632 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-29-18_188043983/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-29-18_188043983/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e0955ed8edeadbd04eeeb3d221b9eb2480983a36 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-29-18_188043983/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 579.823465255788, + 993.8640145585796, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 581.323465255788, + 991.2659383472262, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 582.823465255788, + 988.6678621358728, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 584.323465255788, + 986.0697859245195, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 585.823465255788, + 983.4717097131661, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 587.323465255788, + 980.8736335018127, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 588.823465255788, + 978.2755572904593, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 590.323465255788, + 975.677481079106, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 590.323465255788, + 975.677481079106, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 592.9215414671414, + 974.177481079106, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 595.5196176784948, + 972.677481079106, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 598.1176938898482, + 971.177481079106, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 600.7157701012015, + 969.677481079106, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 603.3138463125549, + 968.177481079106, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 605.9119225239083, + 966.677481079106, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 608.5099987352617, + 965.177481079106, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 611.108074946615, + 963.677481079106, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 613.7061511579684, + 962.177481079106, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 616.3042273693218, + 960.677481079106, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 618.9023035806752, + 959.177481079106, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 621.5003797920285, + 957.677481079106, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 621.5003797920285, + 957.677481079106, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 624.5003797920285, + 957.677481079106, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 656.0, + 936.0, + 215.703 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-29-49_228698447/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-29-49_228698447/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3adb3e8480a4282b8ad2454eb47553d7e9d7c6c3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-29-49_228698447/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 922.1792528050044, + -1782.9403520711016, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 919.1792528050044, + -1782.9403520711016, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 916.1792528050044, + -1782.9403520711016, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 913.1792528050044, + -1782.9403520711016, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 910.1792528050044, + -1782.9403520711016, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 907.1792528050044, + -1782.9403520711016, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 904.1792528050044, + -1782.9403520711016, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 901.1792528050044, + -1782.9403520711016, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 898.1792528050044, + -1782.9403520711016, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 895.1792528050044, + -1782.9403520711016, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 892.1792528050044, + -1782.9403520711016, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 889.1792528050044, + -1782.9403520711016, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 886.1792528050044, + -1782.9403520711016, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 844.0, + -1788.0, + 165.84 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-37-57_1666992709/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-37-57_1666992709/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc53a3b862088a56518b54fc90e6e8f2e1355149 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-37-57_1666992709/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 630.8753886611377, + -1134.3811367223657, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 633.8753886611377, + -1134.3811367223657, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 636.8753886611377, + -1134.3811367223657, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 639.8753886611377, + -1134.3811367223657, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 642.8753886611377, + -1134.3811367223657, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 645.8753886611377, + -1134.3811367223657, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 648.8753886611377, + -1134.3811367223657, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 651.8753886611377, + -1134.3811367223657, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 654.8753886611377, + -1134.3811367223657, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 657.8753886611377, + -1134.3811367223657, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 660.8753886611377, + -1134.3811367223657, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 660.8753886611377, + -1134.3811367223657, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 660.8753886611377, + -1134.3811367223657, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 662.3753886611377, + -1131.7830605110123, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 663.8753886611377, + -1129.184984299659, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 665.3753886611377, + -1126.5869080883056, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 666.8753886611377, + -1123.9888318769522, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 668.3753886611377, + -1121.3907556655988, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 668.3753886611377, + -1121.3907556655988, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 670.9734648724909, + -1119.8907556655988, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 673.5715410838443, + -1118.3907556655988, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 676.1696172951977, + -1116.8907556655988, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 678.767693506551, + -1115.3907556655988, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + -1108.0, + 165.103 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-46-59_1598527249/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-46-59_1598527249/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf7078c23d492d04e0e5eee2c587c58503007124 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-46-59_1598527249/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 544.1097452235791, + 1016.3282556691223, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 544.1097452235791, + 1013.3282556691223, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 544.1097452235791, + 1010.3282556691223, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 544.1097452235791, + 1007.3282556691223, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 544.1097452235791, + 1004.3282556691223, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 544.1097452235791, + 1001.3282556691223, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 544.1097452235791, + 998.3282556691223, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 544.1097452235791, + 995.3282556691223, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 544.1097452235791, + 992.3282556691223, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 544.1097452235791, + 989.3282556691223, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 544.1097452235791, + 986.3282556691223, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 544.1097452235791, + 983.3282556691223, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 544.1097452235791, + 980.3282556691223, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 544.1097452235791, + 977.3282556691223, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 544.1097452235791, + 974.3282556691223, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 544.1097452235791, + 971.3282556691223, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 544.1097452235791, + 968.3282556691223, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 544.1097452235791, + 965.3282556691223, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 544.1097452235791, + 965.3282556691223, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 545.6097452235791, + 962.730179457769, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 547.1097452235791, + 960.1321032464157, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 548.6097452235791, + 957.5340270350623, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 550.1097452235791, + 954.9359508237089, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 551.6097452235791, + 952.3378746123556, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 553.1097452235791, + 949.7397984010022, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 554.6097452235791, + 947.1417221896488, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.0, + 920.0, + 216.131 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-58-6_2023334271/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-58-6_2023334271/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd3c57737e7d53642dfeb3c81bb76872a8ee4b75 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_2-58-6_2023334271/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -11.344004894246863, + 637.9333048576414, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -11.344004894246863, + 634.9333048576414, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -11.344004894246863, + 631.9333048576414, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -11.344004894246863, + 628.9333048576414, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -11.344004894246863, + 625.9333048576414, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -11.344004894246863, + 622.9333048576414, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -11.344004894246863, + 619.9333048576414, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -11.344004894246863, + 619.9333048576414, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -9.844004894246863, + 617.335228646288, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -8.344004894246863, + 614.7371524349346, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -6.844004894246863, + 612.1390762235812, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -5.344004894246863, + 609.5410000122279, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -3.8440048942468628, + 606.9429238008745, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -3.8440048942468628, + 606.9429238008745, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -3.8440048942468628, + 603.9429238008745, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -3.8440048942468628, + 600.9429238008745, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4.0, + 564.0, + 235.27 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-0-40_920670038/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-0-40_920670038/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2aaaac934443c3412fecf7af4f85cce1b1a0a937 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-0-40_920670038/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 48.40969404811989, + 638.850879155868, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 48.40969404811989, + 635.850879155868, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 48.40969404811989, + 632.850879155868, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 48.40969404811989, + 629.850879155868, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 48.40969404811989, + 626.850879155868, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 48.40969404811989, + 623.850879155868, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 48.40969404811989, + 620.850879155868, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 48.40969404811989, + 617.850879155868, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 48.40969404811989, + 617.850879155868, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 46.90969404811989, + 615.2528029445148, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 45.40969404811989, + 612.6547267331614, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 43.90969404811989, + 610.056650521808, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 42.40969404811989, + 607.4585743104547, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 40.90969404811989, + 604.8604980991013, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 40.90969404811989, + 604.8604980991013, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 40.90969404811989, + 601.8604980991013, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 40.90969404811989, + 598.8604980991013, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.0, + 576.0, + 235.275 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-1-38_1644817046/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-1-38_1644817046/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b3f340d046b835435ddba6efe64afdc9957aa5cb --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-1-38_1644817046/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 900.0655139319413, + -1783.01210746203, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 897.4674377205879, + -1784.51210746203, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 894.8693615092345, + -1786.01210746203, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 892.2712852978811, + -1787.51210746203, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 889.6732090865278, + -1789.01210746203, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 887.0751328751744, + -1790.51210746203, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 884.477056663821, + -1792.01210746203, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 881.8789804524677, + -1793.51210746203, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 879.2809042411143, + -1795.01210746203, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 879.2809042411143, + -1795.01210746203, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 876.2809042411143, + -1795.01210746203, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 873.2809042411143, + -1795.01210746203, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 870.2809042411143, + -1795.01210746203, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 867.2809042411143, + -1795.01210746203, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 836.0, + -1808.0, + 165.105 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-33-37_1720273398/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-33-37_1720273398/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d767e585c7dabd4339a9cf089b6ea3b6a8e1b9a5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-33-37_1720273398/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 742.7376860832011, + -1112.9661555373941, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 740.1396098718478, + -1111.4661555373941, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 737.5415336604945, + -1109.9661555373941, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 734.9434574491411, + -1108.4661555373941, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 732.3453812377877, + -1106.9661555373941, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 729.7473050264343, + -1105.4661555373941, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 727.149228815081, + -1103.9661555373941, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 724.5511526037276, + -1102.4661555373941, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 724.5511526037276, + -1102.4661555373941, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 721.5511526037276, + -1102.4661555373941, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 718.5511526037276, + -1102.4661555373941, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 684.0, + -1088.0, + 165.83 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-45-27_171029949/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-45-27_171029949/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b2860f38aaaa624930ae61523b938df08e97955 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-45-27_171029949/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 728.3913767269062, + -1547.654190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 731.3913767269062, + -1547.654190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 734.3913767269062, + -1547.654190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 737.3913767269062, + -1547.654190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 740.3913767269062, + -1547.654190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 743.3913767269062, + -1547.654190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 746.3913767269062, + -1547.654190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 749.3913767269062, + -1547.654190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 752.3913767269062, + -1547.654190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 755.3913767269062, + -1547.654190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 758.3913767269062, + -1547.654190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 761.3913767269062, + -1547.654190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 764.3913767269062, + -1547.654190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 767.3913767269062, + -1547.654190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 770.3913767269062, + -1547.654190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 773.3913767269062, + -1547.654190612905, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 773.3913767269062, + -1547.654190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 775.9894529382595, + -1549.154190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 778.5875291496129, + -1550.654190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 781.1856053609663, + -1552.154190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 783.7836815723197, + -1553.654190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 786.381757783673, + -1555.154190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 788.9798339950264, + -1556.654190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 791.5779102063798, + -1558.154190612905, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 794.1759864177332, + -1559.654190612905, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 812.0, + -1560.0, + 163.632 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-46-54_1644210801/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-46-54_1644210801/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..698ff2c1a8a0dec1414572b95ed092d420b8e223 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-46-54_1644210801/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 524.8441606017631, + 848.9067741157126, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 526.3441606017631, + 851.5048503270659, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 527.8441606017631, + 854.1029265384193, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 529.3441606017631, + 856.7010027497727, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 530.8441606017631, + 859.299078961126, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 532.3441606017631, + 861.8971551724794, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 533.8441606017631, + 864.4952313838328, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 535.3441606017631, + 867.0933075951862, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 536.8441606017631, + 869.6913838065395, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 538.3441606017631, + 872.2894600178929, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 539.8441606017631, + 874.8875362292463, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 541.3441606017631, + 877.4856124405997, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 541.3441606017631, + 877.4856124405997, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 541.3441606017631, + 880.4856124405997, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267949059 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.0, + 920.0, + 216.131 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-47-44_940218397/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-47-44_940218397/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f559683f2fb2be1758e5ac17d4e1c98daa478a4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-47-44_940218397/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 901.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 898.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 895.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 892.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 889.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 886.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 883.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 880.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 877.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 874.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 871.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 868.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 865.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 862.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 859.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 856.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 853.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 850.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 847.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 844.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 844.5057296986862, + -1548.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 841.9076534873329, + -1550.0203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 839.3095772759796, + -1551.5203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 836.7115010646262, + -1553.0203443470027, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 834.1134248532728, + -1554.5203443470027, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 812.0, + -1560.0, + 163.632 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-51-0_1009771475/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-51-0_1009771475/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60cbfc2b7877aa9b1737ee4dd793a52e59ac500d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_3-51-0_1009771475/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 101.64799862437118, + 710.5343762676448, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 104.64799862437118, + 710.5343762676448, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 107.64799862437118, + 710.5343762676448, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 110.64799862437118, + 710.5343762676448, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 113.64799862437118, + 710.5343762676448, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 116.64799862437118, + 710.5343762676448, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 119.64799862437118, + 710.5343762676448, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 122.64799862437118, + 710.5343762676448, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 164.0, + 708.0, + 213.945 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_4-15-58_770571220/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_4-15-58_770571220/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..45dd396e59e37bdbe7a6b34072027385f2ec1979 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_4-15-58_770571220/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 216.8959375757633, + 122.23459765797112, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 215.3959375757633, + 124.83267386932444, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 213.8959375757633, + 127.43075008067775, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 212.3959375757633, + 130.02882629203106, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393198 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 212.3959375757633, + 130.02882629203106, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948992 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 212.3959375757633, + 133.02882629203106, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 212.3959375757633, + 136.02882629203106, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 212.3959375757633, + 139.02882629203106, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 196.0, + 184.0, + 386.26 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_4-18-46_1668794409/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_4-18-46_1668794409/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d325f24f19470d1393230bd87de548e267aaf95b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_4-18-46_1668794409/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 104.60105186174451, + 506.6645305506147, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 103.10105186174451, + 509.262606761968, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 101.60105186174451, + 511.86068297332133, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 100.10105186174451, + 514.4587591846746, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 98.60105186174451, + 517.056835396028, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 97.10105186174451, + 519.6549116073813, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 95.60105186174451, + 522.2529878187347, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 94.10105186174451, + 524.8510640300881, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 92.60105186174451, + 527.4491402414415, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 91.10105186174451, + 530.0472164527948, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 89.60105186174451, + 532.6452926641482, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 88.10105186174451, + 535.2433688755016, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 86.60105186174451, + 537.841445086855, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 85.10105186174451, + 540.4395212982083, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 85.10105186174451, + 540.4395212982083, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 82.50297565039119, + 541.9395212982083, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 79.90489943903788, + 543.4395212982083, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 77.30682322768456, + 544.9395212982083, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 74.70874701633124, + 546.4395212982083, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 72.11067080497793, + 547.9395212982083, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 69.51259459362461, + 549.4395212982083, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 66.9145183822713, + 550.9395212982083, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 64.31644217091798, + 552.4395212982083, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 61.718365959564665, + 553.9395212982083, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 59.12028974821135, + 555.4395212982083, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 56.52221353685803, + 556.9395212982083, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.0, + 576.0, + 235.275 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_4-20-29_1299707540/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_4-20-29_1299707540/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..471b5fba59b61e17f6b45e8f8f2ab838035597c4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_4-20-29_1299707540/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 748.0679805320318, + -1182.0830185737013, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 746.5679805320318, + -1179.484942362348, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 745.0679805320318, + -1176.8868661509946, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 743.5679805320318, + -1174.2887899396412, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 742.0679805320318, + -1171.6907137282878, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 740.5679805320318, + -1169.0926375169345, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 739.0679805320318, + -1166.494561305581, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 737.5679805320318, + -1163.8964850942277, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 736.0679805320318, + -1161.2984088828744, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 734.5679805320318, + -1158.700332671521, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 733.0679805320318, + -1156.1022564601676, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 731.5679805320318, + -1153.5041802488142, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 730.0679805320318, + -1150.9061040374609, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 728.5679805320318, + -1148.3080278261075, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 728.5679805320318, + -1148.3080278261075, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 725.9699043206786, + -1146.8080278261075, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 723.3718281093252, + -1145.3080278261075, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 720.7737518979718, + -1143.8080278261075, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 718.1756756866184, + -1142.3080278261075, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + -1108.0, + 165.103 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_4-29-21_1463778847/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_4-29-21_1463778847/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa90e2d1c6a04b6b98b6ef5652f75fcf1fc970d6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_4-29-21_1463778847/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -51.68655116436436, + 594.022412991178, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -49.088474953011044, + 592.522412991178, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -46.49039874165773, + 591.022412991178, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -43.89232253030441, + 589.522412991178, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -41.294246318951096, + 588.022412991178, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -38.69617010759778, + 586.522412991178, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -36.098093896244464, + 585.022412991178, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -33.50001768489115, + 583.522412991178, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -30.901941473537832, + 582.022412991178, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -28.303865262184516, + 580.522412991178, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -25.7057890508312, + 579.022412991178, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -23.107712839477884, + 577.522412991178, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -20.509636628124568, + 576.022412991178, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -17.911560416771252, + 574.522412991178, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 4.0, + 564.0, + 235.27 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_4-29-33_568062975/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_4-29-33_568062975/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..48d5656c2c02f866cd5fe0b990042174a2dbe9a8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_4-29-33_568062975/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 63.18887367326458, + -13.082176136160363, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 65.7869498846179, + -11.582176136160363, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 68.38502609597121, + -10.082176136160363, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 70.98310230732453, + -8.582176136160363, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 73.58117851867785, + -7.0821761361603635, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 76.17925473003116, + -5.5821761361603635, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 78.77733094138448, + -4.0821761361603635, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 81.3754071527378, + -2.5821761361603635, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + 20.0, + 602.915 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_4-50-23_1198948480/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_4-50-23_1198948480/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db753b54d5cd2b22fa8e31c7628f9abc099658c6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_4-50-23_1198948480/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -193.24890200010933, + 735.3442662264066, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -195.84697821146264, + 736.8442662264066, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -198.44505442281596, + 738.3442662264066, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -201.04313063416927, + 739.8442662264066, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -203.6412068455226, + 741.3442662264066, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -206.2392830568759, + 742.8442662264066, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -208.83735926822922, + 744.3442662264066, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -211.43543547958254, + 745.8442662264066, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -214.03351169093585, + 747.3442662264066, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -216.63158790228917, + 748.8442662264066, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -219.22966411364249, + 750.3442662264066, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -272.0, + 780.0, + 338.618 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_5-23-36_1733264227/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_5-23-36_1733264227/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..682e08e01846f1bb22fd481cc35c6627a4087187 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_5-23-36_1733264227/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 534.6622170681717, + 1002.4615326605309, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 536.1622170681717, + 999.8634564491776, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 537.6622170681717, + 997.2653802378243, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 539.1622170681717, + 994.6673040264709, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 540.6622170681717, + 992.0692278151175, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 542.1622170681717, + 989.4711516037642, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 543.6622170681717, + 986.8730753924108, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 545.1622170681717, + 984.2749991810574, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 546.6622170681717, + 981.676922969704, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 548.1622170681717, + 979.0788467583507, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 549.6622170681717, + 976.4807705469973, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 549.6622170681717, + 976.4807705469973, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 549.6622170681717, + 973.4807705469973, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 549.6622170681717, + 970.4807705469973, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 549.6622170681717, + 967.4807705469973, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 549.6622170681717, + 964.4807705469973, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 549.6622170681717, + 961.4807705469973, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 549.6622170681717, + 958.4807705469973, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 549.6622170681717, + 955.4807705469973, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 549.6622170681717, + 952.4807705469973, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 549.6622170681717, + 949.4807705469973, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 549.6622170681717, + 949.4807705469973, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 551.1622170681717, + 946.8826943356439, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.0, + 920.0, + 216.131 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_5-3-20_1612071710/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_5-3-20_1612071710/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..585f0a8e658b3a8d9cfe42d29a0e41aec3922acd --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_5-3-20_1612071710/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 92.98501685710559, + 699.600095981368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 95.98501685710559, + 699.600095981368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 98.98501685710559, + 699.600095981368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 101.98501685710559, + 699.600095981368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 104.98501685710559, + 699.600095981368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 107.98501685710559, + 699.600095981368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 110.98501685710559, + 699.600095981368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 113.98501685710559, + 699.600095981368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 116.98501685710559, + 699.600095981368, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 116.98501685710559, + 699.600095981368, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 119.58309306845891, + 701.100095981368, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 164.0, + 708.0, + 213.945 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_5-3-30_1851329519/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_5-3-30_1851329519/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f737bb372b0bd36c203617de95c0096982e84d4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_5-3-30_1851329519/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -251.47532206669638, + 684.2546505296683, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -251.47532206669638, + 687.2546505296683, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -251.47532206669638, + 690.2546505296683, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -251.47532206669638, + 693.2546505296683, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -251.47532206669638, + 693.2546505296683, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -252.97532206669638, + 695.8527267410216, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -254.47532206669638, + 698.4508029523749, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -272.0, + 780.0, + 338.618 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_5-39-12_678890048/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_5-39-12_678890048/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..557b8324a9b2cfbdb6ada773d0783224b13e48b0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_5-39-12_678890048/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 749.6352283786696, + -1508.052583847385, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 752.233304590023, + -1509.552583847385, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 754.8313808013763, + -1511.052583847385, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 757.4294570127297, + -1512.552583847385, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 760.0275332240831, + -1514.052583847385, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 762.6256094354364, + -1515.552583847385, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 765.2236856467898, + -1517.052583847385, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 767.8217618581432, + -1518.552583847385, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 770.4198380694966, + -1520.052583847385, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 773.0179142808499, + -1521.552583847385, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 775.6159904922033, + -1523.052583847385, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 778.2140667035567, + -1524.552583847385, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 778.2140667035567, + -1524.552583847385, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 779.7140667035567, + -1527.1506600587384, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 781.2140667035567, + -1529.7487362700917, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 782.7140667035567, + -1532.346812481445, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 784.2140667035567, + -1534.9448886927985, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 785.7140667035567, + -1537.5429649041519, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 787.2140667035567, + -1540.1410411155052, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 788.7140667035567, + -1542.7391173268586, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 790.2140667035567, + -1545.337193538212, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 790.2140667035567, + -1545.337193538212, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 790.2140667035567, + -1545.337193538212, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 793.2140667035567, + -1545.337193538212, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -9.547918011776346e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 812.0, + -1560.0, + 163.632 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_5-46-47_1874459131/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_5-46-47_1874459131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1907d26adbb01fb2610d4970e2598e3ef07d74e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_5-46-47_1874459131/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 771.8761390993627, + -1058.977358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 769.2780628880093, + -1060.477358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 766.679986676656, + -1061.977358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 764.0819104653026, + -1063.477358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 761.4838342539492, + -1064.977358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 758.8857580425959, + -1066.477358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 756.2876818312425, + -1067.977358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 753.6896056198891, + -1069.477358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 751.0915294085357, + -1070.977358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 748.4934531971824, + -1072.477358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 745.895376985829, + -1073.977358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 743.2973007744756, + -1075.477358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 740.6992245631222, + -1076.977358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 738.1011483517689, + -1078.477358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 735.5030721404155, + -1079.977358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 732.9049959290621, + -1081.477358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 730.3069197177088, + -1082.977358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 727.7088435063554, + -1084.477358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 725.110767295002, + -1085.977358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 722.5126910836486, + -1087.477358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 719.9146148722953, + -1088.977358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 717.3165386609419, + -1090.477358430456, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 717.3165386609419, + -1090.477358430456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 715.8165386609419, + -1093.0754346418094, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 714.3165386609419, + -1095.6735108531627, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + -1108.0, + 165.103 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_5-52-11_1337904018/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_5-52-11_1337904018/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..039554fee587db02f0b3511e2470e214cddd633e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_5-52-11_1337904018/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 120.07749140551061, + -61.91187905780532, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 120.07749140551061, + -58.91187905780532, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 120.07749140551061, + -55.91187905780532, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 120.07749140551061, + -52.91187905780532, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 120.07749140551061, + -52.91187905780532, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 121.57749140551061, + -50.313802846452006, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + 20.0, + 602.915 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-1-3_1654875286/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-1-3_1654875286/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bdd244537f196067f6c5994e5cf5cb1d1bb9cc6f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-1-3_1654875286/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -154.84931469801626, + 32.40475858564976, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -154.84931469801626, + 35.40475858564976, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -154.84931469801626, + 38.40475858564976, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -154.84931469801626, + 41.40475858564976, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -154.84931469801626, + 44.40475858564976, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -154.84931469801626, + 47.40475858564976, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -154.84931469801626, + 50.40475858564976, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -154.84931469801626, + 53.40475858564976, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -154.84931469801626, + 56.40475858564976, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -154.84931469801626, + 56.40475858564976, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -153.34931469801626, + 59.002834797003075, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -151.84931469801626, + 61.60091100835639, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -150.34931469801626, + 64.19898721970971, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -148.84931469801626, + 66.79706343106302, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -147.34931469801626, + 69.39513964241634, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -145.84931469801626, + 71.99321585376966, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 116.0, + 204.047 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-10-11_1647190800/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-10-11_1647190800/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d3cfbc78e825fbca62176d2b95ed3048dc17822 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-10-11_1647190800/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 708.6025337425044, + -1201.63153789852, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 711.2006099538578, + -1200.13153789852, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 713.7986861652112, + -1198.63153789852, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 716.3967623765645, + -1197.13153789852, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 718.9948385879179, + -1195.63153789852, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 721.5929147992713, + -1194.13153789852, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 724.1909910106247, + -1192.63153789852, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 726.789067221978, + -1191.13153789852, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 729.3871434333314, + -1189.63153789852, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 731.9852196446848, + -1188.13153789852, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 734.5832958560381, + -1186.63153789852, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 737.1813720673915, + -1185.13153789852, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 739.7794482787449, + -1183.63153789852, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 742.3775244900983, + -1182.13153789852, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 744.9756007014516, + -1180.63153789852, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 747.573676912805, + -1179.13153789852, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 747.573676912805, + -1179.13153789852, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 749.073676912805, + -1176.5334616871667, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 750.573676912805, + -1173.9353854758133, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 768.0, + -1160.0, + 163.63 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-10-1_590721820/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-10-1_590721820/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..530dada294bacf708b8daf34e4c5f6e3c5de1551 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-10-1_590721820/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 60.0591515881962, + -10.83337909028107, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 63.0591515881962, + -10.83337909028107, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 66.0591515881962, + -10.83337909028107, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 69.0591515881962, + -10.83337909028107, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 69.0591515881962, + -10.83337909028107, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 71.65722779954952, + -9.33337909028107, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 74.25530401090283, + -7.8333790902810705, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 76.85338022225615, + -6.3333790902810705, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 79.45145643360947, + -4.8333790902810705, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 82.04953264496278, + -3.3333790902810705, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + 20.0, + 602.915 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-33-55_1951761153/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-33-55_1951761153/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..469a983d268f681bb2a00ea9115e9af04859cb50 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-33-55_1951761153/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -99.63270071181134, + 15.929812054840745, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -97.03462450045802, + 14.429812054840745, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -94.4365482891047, + 12.929812054840745, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -91.83847207775139, + 11.429812054840745, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -89.24039586639807, + 9.929812054840745, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -86.64231965504476, + 8.429812054840745, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -84.04424344369144, + 6.929812054840745, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -81.44616723233813, + 5.429812054840745, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -78.84809102098481, + 3.9298120548407454, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -76.2500148096315, + 2.4298120548407454, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -73.65193859827818, + 0.9298120548407456, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -73.65193859827818, + 0.9298120548407456, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -72.15193859827818, + -1.6682641565125704, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -70.65193859827818, + -4.266340367865887, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -36.0, + -28.0, + 212.257 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-34-7_2042122590/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-34-7_2042122590/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5bf3b0ebb00cf41a9528cb572b29ed01a1130254 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-34-7_2042122590/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 735.581278592587, + -1285.820569943181, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 738.581278592587, + -1285.820569943181, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 741.581278592587, + -1285.820569943181, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 744.581278592587, + -1285.820569943181, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 747.581278592587, + -1285.820569943181, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 750.581278592587, + -1285.820569943181, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 753.581278592587, + -1285.820569943181, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 756.581278592587, + -1285.820569943181, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 759.581278592587, + -1285.820569943181, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 762.581278592587, + -1285.820569943181, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 765.581278592587, + -1285.820569943181, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 768.581278592587, + -1285.820569943181, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 771.581278592587, + -1285.820569943181, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 774.581278592587, + -1285.820569943181, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 774.581278592587, + -1285.820569943181, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 774.581278592587, + -1285.820569943181, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 776.081278592587, + -1288.4186461545344, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 777.581278592587, + -1291.0167223658877, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 779.081278592587, + -1293.6147985772411, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 780.581278592587, + -1296.2128747885945, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 800.0, + -1304.0, + 163.632 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-35-31_218743872/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-35-31_218743872/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac908dd4394b472f0542d24161ed05a5fe8cd6a1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-35-31_218743872/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 845.7055501107294, + -1747.9108974230305, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 847.2055501107294, + -1745.3128212116771, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 848.7055501107294, + -1742.7147450003238, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 850.2055501107294, + -1740.1166687889704, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 851.7055501107294, + -1737.518592577617, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 853.2055501107294, + -1734.9205163662637, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 854.7055501107294, + -1732.3224401549103, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 856.2055501107294, + -1729.724363943557, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 857.7055501107294, + -1727.1262877322035, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 859.2055501107294, + -1724.5282115208502, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 860.7055501107294, + -1721.9301353094968, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 862.2055501107294, + -1719.3320590981434, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 862.2055501107294, + -1719.3320590981434, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 864.8036263220827, + -1717.8320590981434, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 867.401702533436, + -1716.3320590981434, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 869.9997787447894, + -1714.8320590981434, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 872.5978549561428, + -1713.3320590981434, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 875.1959311674962, + -1711.8320590981434, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 877.7940073788495, + -1710.3320590981434, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 880.3920835902029, + -1708.8320590981434, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 880.3920835902029, + -1708.8320590981434, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 881.8920835902029, + -1706.23398288679, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 883.3920835902029, + -1703.6359066754367, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 896.0, + -1688.0, + 168.713 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-40-48_1452362972/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-40-48_1452362972/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b5c2dd19eef56a199588179391f374f11e63260b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-40-48_1452362972/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 440.5022553475591, + 837.1590336785395, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 437.5022553475591, + 837.1590336785395, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 434.5022553475591, + 837.1590336785395, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 431.5022553475591, + 837.1590336785395, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 428.5022553475591, + 837.1590336785395, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 425.5022553475591, + 837.1590336785395, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 422.5022553475591, + 837.1590336785395, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 419.5022553475591, + 837.1590336785395, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 416.5022553475591, + 837.1590336785395, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 413.5022553475591, + 837.1590336785395, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 410.5022553475591, + 837.1590336785395, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 407.5022553475591, + 837.1590336785395, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 404.5022553475591, + 837.1590336785395, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 404.5022553475591, + 837.1590336785395, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 401.9041791362058, + 838.6590336785395, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 399.3061029248525, + 840.1590336785395, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 396.7080267134992, + 841.6590336785395, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.0, + 848.0, + 180.724 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-48-44_816823884/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-48-44_816823884/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99ce9fc24513ecb20adaa2c8e7887865b087acab --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-48-44_816823884/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -212.04094662618638, + 702.0285285530226, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -213.54094662618638, + 704.626604764376, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -215.04094662618638, + 707.2246809757294, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -216.54094662618638, + 709.8227571870827, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -218.04094662618638, + 712.4208333984361, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -219.54094662618638, + 715.0189096097895, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -221.04094662618638, + 717.6169858211429, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -221.04094662618638, + 717.6169858211429, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -223.6390228375397, + 719.1169858211429, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -226.23709904889301, + 720.6169858211429, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -272.0, + 780.0, + 338.618 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-58-49_801013669/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-58-49_801013669/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2d82e6d45717b709dddc839fc55fe5c4cad6930c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_6-58-49_801013669/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 872.8432225307075, + -1727.057545756693, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 871.3432225307075, + -1729.6556219680463, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 869.8432225307075, + -1732.2536981793996, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 868.3432225307075, + -1734.851774390753, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 866.8432225307075, + -1737.4498506021064, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 865.3432225307075, + -1740.0479268134598, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 863.8432225307075, + -1742.6460030248131, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 862.3432225307075, + -1745.2440792361665, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 860.8432225307075, + -1747.8421554475199, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 859.3432225307075, + -1750.4402316588732, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 857.8432225307075, + -1753.0383078702266, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 856.3432225307075, + -1755.63638408158, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 856.3432225307075, + -1755.63638408158, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 856.3432225307075, + -1758.63638408158, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 856.3432225307075, + -1761.63638408158, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 856.3432225307075, + -1764.63638408158, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 836.0, + -1808.0, + 165.105 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_7-2-45_1819216446/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_7-2-45_1819216446/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e983c5bc94fb102b628e32ddedf25e4b97a846a4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_7-2-45_1819216446/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -213.77866362168334, + 854.0477741983867, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -215.27866362168334, + 851.4496979870335, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -216.77866362168334, + 848.8516217756801, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -218.27866362168334, + 846.2535455643267, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -219.77866362168334, + 843.6554693529733, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -221.27866362168334, + 841.05739314162, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -222.77866362168334, + 838.4593169302666, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -224.27866362168334, + 835.8612407189132, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -225.77866362168334, + 833.2631645075598, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -227.27866362168334, + 830.6650882962065, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -227.27866362168334, + 830.6650882962065, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -229.87673983303665, + 829.1650882962065, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -232.47481604438997, + 827.6650882962065, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -235.07289225574328, + 826.1650882962065, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -272.0, + 780.0, + 338.618 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_7-7-53_543672876/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_7-7-53_543672876/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0dc7c46a85a814bded60a8a32f20a1b3296ae769 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_7-7-53_543672876/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 698.4424272747125, + -1176.1416257743347, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 698.4424272747125, + -1173.1416257743347, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 698.4424272747125, + -1170.1416257743347, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 698.4424272747125, + -1167.1416257743347, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 698.4424272747125, + -1164.1416257743347, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 698.4424272747125, + -1161.1416257743347, + 177.22623031643226 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 698.4424272747125, + -1161.1416257743347, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 696.9424272747125, + -1158.5435495629813, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 684.0, + -1088.0, + 165.83 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/high_short/2025-1-11_7-8-2_1816792856/pose.jsonl b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_7-8-2_1816792856/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fe3e80319ff44347c05287f698220ff4f9ce2420 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/high_short/2025-1-11_7-8-2_1816792856/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 748.6176384027241, + -1099.5884091036305, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 750.1176384027241, + -1102.1864853149839, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 751.6176384027241, + -1104.7845615263373, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 753.1176384027241, + -1107.3826377376906, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 754.6176384027241, + -1109.980713949044, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 756.1176384027241, + -1112.5787901603974, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 757.6176384027241, + -1115.1768663717507, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 759.1176384027241, + -1117.7749425831041, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 760.6176384027241, + -1120.3730187944575, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 762.1176384027241, + -1122.9710950058109, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 763.6176384027241, + -1125.5691712171642, + 177.22623031643226 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 763.6176384027241, + -1125.5691712171642, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 763.6176384027241, + -1128.5691712171642, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 763.6176384027241, + -1131.5691712171642, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 763.6176384027241, + -1134.5691712171642, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 763.6176384027241, + -1137.5691712171642, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 763.6176384027241, + -1140.5691712171642, + 177.22623031643226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 763.6176384027241, + -1143.5691712171642, + 177.22623031643226 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 768.0, + -1160.0, + 163.63 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +}