Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- Image/env_airsim_16/astar_data/high_short/2025-1-9_16-15-8_233665123/pose.jsonl +288 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_16-24-25_1632621729/pose.jsonl +314 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_16-26-14_1548233367/pose.jsonl +314 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_16-27-44_945117276/pose.jsonl +405 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_16-28-17_1780695788/pose.jsonl +275 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_16-37-40_1469834481/pose.jsonl +379 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_16-38-53_498777856/pose.jsonl +353 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_16-40-46_1600028624/pose.jsonl +249 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_16-43-40_1631518149/pose.jsonl +301 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_16-54-41_2103318776/pose.jsonl +132 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_17-13-0_2113903881/pose.jsonl +379 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_17-16-4_2025187190/pose.jsonl +340 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_17-20-27_625032172/pose.jsonl +340 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_17-22-10_1799878206/pose.jsonl +392 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_17-23-6_1070575321/pose.jsonl +353 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_17-29-44_1414647625/pose.jsonl +210 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_17-32-47_1566288819/pose.jsonl +327 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_17-43-10_1309383303/pose.jsonl +366 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_17-46-42_767066249/pose.jsonl +132 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_17-47-13_1750003033/pose.jsonl +184 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_17-49-5_474613996/pose.jsonl +340 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_17-5-2_392035568/pose.jsonl +275 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_17-53-13_820697697/pose.jsonl +262 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_17-57-11_860516127/pose.jsonl +379 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_18-28-42_1190668363/pose.jsonl +249 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_18-32-21_1280631491/pose.jsonl +340 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_18-4-32_1450956042/pose.jsonl +340 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_18-49-34_1646478179/pose.jsonl +392 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_18-57-8_483689685/pose.jsonl +145 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_18-58-53_1122336503/pose.jsonl +119 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_19-14-37_590335821/pose.jsonl +119 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_19-25-14_180785147/pose.jsonl +392 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_19-38-0_617909211/pose.jsonl +288 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_19-38-28_2033669086/pose.jsonl +184 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_19-4-5_157272379/pose.jsonl +119 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_19-49-18_1449228398/pose.jsonl +314 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_19-55-19_242588954/pose.jsonl +288 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_19-58-54_695466127/pose.jsonl +158 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_19-6-20_772970072/pose.jsonl +210 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_20-0-26_1162088421/pose.jsonl +249 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_20-13-45_878273679/pose.jsonl +132 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_20-32-53_1348361729/pose.jsonl +223 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_20-53-58_1698487330/pose.jsonl +197 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_20-54-27_359147515/pose.jsonl +327 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_20-54-43_1666231349/pose.jsonl +106 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_20-57-36_1692786742/pose.jsonl +262 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_20-6-3_942724790/pose.jsonl +353 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_21-13-21_1756098480/pose.jsonl +223 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_21-17-3_1907712995/pose.jsonl +262 -0
- Image/env_airsim_16/astar_data/high_short/2025-1-9_21-23-43_1155465115/pose.jsonl +314 -0
Image/env_airsim_16/astar_data/high_short/2025-1-9_16-15-8_233665123/pose.jsonl
ADDED
|
@@ -0,0 +1,288 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-960.84520613214,
|
| 6 |
+
-594.2964362356629,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.094395102393186
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-962.34520613214,
|
| 19 |
+
-591.6983600243095,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.094395102393186
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-963.84520613214,
|
| 32 |
+
-589.1002838129561,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.094395102393186
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-965.34520613214,
|
| 45 |
+
-586.5022076016028,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.094395102393186
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-966.84520613214,
|
| 58 |
+
-583.9041313902494,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.094395102393186
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-968.34520613214,
|
| 71 |
+
-581.306055178896,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.094395102393186
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-969.84520613214,
|
| 84 |
+
-578.7079789675427,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.094395102393186
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-971.34520613214,
|
| 97 |
+
-576.1099027561893,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.094395102393186
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-972.84520613214,
|
| 110 |
+
-573.5118265448359,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.094395102393186
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-974.34520613214,
|
| 123 |
+
-570.9137503334825,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.094395102393186
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-975.84520613214,
|
| 136 |
+
-568.3156741221292,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.094395102393186
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-977.34520613214,
|
| 149 |
+
-565.7175979107758,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.094395102393186
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-978.84520613214,
|
| 162 |
+
-563.1195216994224,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.094395102393186
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-980.34520613214,
|
| 175 |
+
-560.521445488069,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.094395102393186
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-981.84520613214,
|
| 188 |
+
-557.9233692767157,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.094395102393186
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-983.34520613214,
|
| 201 |
+
-555.3252930653623,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "turn right",
|
| 205 |
+
"value": 30,
|
| 206 |
+
"yaw": 2.094395102393186
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-983.34520613214,
|
| 214 |
+
-555.3252930653623,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.5707963267948872
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-983.34520613214,
|
| 227 |
+
-552.3252930653623,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.5707963267948966
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-983.34520613214,
|
| 240 |
+
-549.3252930653623,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-983.34520613214,
|
| 253 |
+
-546.3252930653623,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 1.5707963267948966
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-983.34520613214,
|
| 266 |
+
-543.3252930653623,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "stop",
|
| 270 |
+
"value": 0,
|
| 271 |
+
"yaw": 1.5707963267948966
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"aim_landmark": {
|
| 276 |
+
"color": "test",
|
| 277 |
+
"feature": "test",
|
| 278 |
+
"position": [
|
| 279 |
+
-996.0,
|
| 280 |
+
-520.0,
|
| 281 |
+
75.5737
|
| 282 |
+
],
|
| 283 |
+
"shape": "test",
|
| 284 |
+
"dir": "left",
|
| 285 |
+
"size": "test",
|
| 286 |
+
"type": "building"
|
| 287 |
+
}
|
| 288 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_16-24-25_1632621729/pose.jsonl
ADDED
|
@@ -0,0 +1,314 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-863.616791076689,
|
| 6 |
+
-489.0036103011765,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-865.116791076689,
|
| 19 |
+
-491.6016865125298,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-866.616791076689,
|
| 32 |
+
-494.1997627238831,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-868.116791076689,
|
| 45 |
+
-496.7978389352364,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-869.616791076689,
|
| 58 |
+
-499.39591514658974,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-871.116791076689,
|
| 71 |
+
-501.99399135794306,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-872.616791076689,
|
| 84 |
+
-504.5920675692964,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-874.116791076689,
|
| 97 |
+
-507.1901437806497,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "turn left",
|
| 101 |
+
"value": 30,
|
| 102 |
+
"yaw": -2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-874.116791076689,
|
| 110 |
+
-507.1901437806497,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-874.116791076689,
|
| 123 |
+
-510.1901437806497,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-874.116791076689,
|
| 136 |
+
-513.1901437806497,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-874.116791076689,
|
| 149 |
+
-516.1901437806497,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-874.116791076689,
|
| 162 |
+
-519.1901437806497,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "turn right",
|
| 166 |
+
"value": 30,
|
| 167 |
+
"yaw": -1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-874.116791076689,
|
| 175 |
+
-519.1901437806497,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "turn right",
|
| 179 |
+
"value": 30,
|
| 180 |
+
"yaw": -2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-874.116791076689,
|
| 188 |
+
-519.1901437806497,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.617993877991494
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-876.7148672880423,
|
| 201 |
+
-520.6901437806497,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.6179938779915037
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-879.3129434993957,
|
| 214 |
+
-522.1901437806497,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.6179938779915037
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-881.9110197107491,
|
| 227 |
+
-523.6901437806497,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.6179938779915037
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-884.5090959221025,
|
| 240 |
+
-525.1901437806497,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.6179938779915037
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-887.1071721334558,
|
| 253 |
+
-526.6901437806497,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.6179938779915037
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-889.7052483448092,
|
| 266 |
+
-528.1901437806497,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -2.6179938779915037
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-892.3033245561626,
|
| 279 |
+
-529.6901437806497,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -2.6179938779915037
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-894.901400767516,
|
| 292 |
+
-531.1901437806497,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "stop",
|
| 296 |
+
"value": 0,
|
| 297 |
+
"yaw": -2.6179938779915037
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"aim_landmark": {
|
| 302 |
+
"color": "test",
|
| 303 |
+
"feature": "test",
|
| 304 |
+
"position": [
|
| 305 |
+
-908.0,
|
| 306 |
+
-544.0,
|
| 307 |
+
115.729
|
| 308 |
+
],
|
| 309 |
+
"shape": "test",
|
| 310 |
+
"dir": "center",
|
| 311 |
+
"size": "test",
|
| 312 |
+
"type": "building"
|
| 313 |
+
}
|
| 314 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_16-26-14_1548233367/pose.jsonl
ADDED
|
@@ -0,0 +1,314 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-757.7845987388272,
|
| 6 |
+
-448.8574201221722,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-759.2845987388272,
|
| 19 |
+
-446.25934391081887,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-760.7845987388272,
|
| 32 |
+
-443.66126769946555,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-762.2845987388272,
|
| 45 |
+
-441.06319148811224,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-763.7845987388272,
|
| 58 |
+
-438.4651152767589,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-765.2845987388272,
|
| 71 |
+
-435.8670390654056,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-766.7845987388272,
|
| 84 |
+
-433.2689628540523,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-768.2845987388272,
|
| 97 |
+
-430.670886642699,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-769.7845987388272,
|
| 110 |
+
-428.07281043134566,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-771.2845987388272,
|
| 123 |
+
-425.47473421999234,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-772.7845987388272,
|
| 136 |
+
-422.876658008639,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-774.2845987388272,
|
| 149 |
+
-420.2785817972857,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-775.7845987388272,
|
| 162 |
+
-417.6805055859324,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-777.2845987388272,
|
| 175 |
+
-415.0824293745791,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-778.7845987388272,
|
| 188 |
+
-412.48435316322576,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-780.2845987388272,
|
| 201 |
+
-409.88627695187245,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-781.7845987388272,
|
| 214 |
+
-407.28820074051913,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 2.0943951023931953
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-783.2845987388272,
|
| 227 |
+
-404.6901245291658,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 2.0943951023931953
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-784.7845987388272,
|
| 240 |
+
-402.0920483178125,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 2.0943951023931953
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-786.2845987388272,
|
| 253 |
+
-399.4939721064592,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "turn right",
|
| 257 |
+
"value": 30,
|
| 258 |
+
"yaw": 2.0943951023931953
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-786.2845987388272,
|
| 266 |
+
-399.4939721064592,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 1.5707963267948966
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-786.2845987388272,
|
| 279 |
+
-396.4939721064592,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 1.5707963267948966
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-786.2845987388272,
|
| 292 |
+
-393.4939721064592,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "stop",
|
| 296 |
+
"value": 0,
|
| 297 |
+
"yaw": 1.5707963267948966
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"aim_landmark": {
|
| 302 |
+
"color": "test",
|
| 303 |
+
"feature": "test",
|
| 304 |
+
"position": [
|
| 305 |
+
-796.0,
|
| 306 |
+
-372.0,
|
| 307 |
+
91.3502
|
| 308 |
+
],
|
| 309 |
+
"shape": "test",
|
| 310 |
+
"dir": "center",
|
| 311 |
+
"size": "test",
|
| 312 |
+
"type": "building"
|
| 313 |
+
}
|
| 314 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_16-27-44_945117276/pose.jsonl
ADDED
|
@@ -0,0 +1,405 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-788.2081145026051,
|
| 6 |
+
-485.9992654754829,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.617993877991485
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-790.8061907139584,
|
| 19 |
+
-487.4992654754829,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.617993877991485
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-793.4042669253117,
|
| 32 |
+
-488.9992654754829,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-796.0023431366651,
|
| 45 |
+
-490.4992654754829,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-798.6004193480185,
|
| 58 |
+
-491.9992654754829,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-801.1984955593718,
|
| 71 |
+
-493.4992654754829,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-803.7965717707252,
|
| 84 |
+
-494.9992654754829,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-806.3946479820786,
|
| 97 |
+
-496.4992654754829,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-808.992724193432,
|
| 110 |
+
-497.9992654754829,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-811.5908004047853,
|
| 123 |
+
-499.4992654754829,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "turn right",
|
| 127 |
+
"value": 30,
|
| 128 |
+
"yaw": -2.6179938779915037
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-811.5908004047853,
|
| 136 |
+
-499.4992654754829,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -3.1415926535898024
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-814.5908004047853,
|
| 149 |
+
-499.4992654754829,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 3.141592653589793
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-817.5908004047853,
|
| 162 |
+
-499.4992654754829,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 3.141592653589793
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-820.5908004047853,
|
| 175 |
+
-499.4992654754829,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 3.141592653589793
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-823.5908004047853,
|
| 188 |
+
-499.4992654754829,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 3.141592653589793
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-826.5908004047853,
|
| 201 |
+
-499.4992654754829,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 3.141592653589793
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-829.5908004047853,
|
| 214 |
+
-499.4992654754829,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 3.141592653589793
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-832.5908004047853,
|
| 227 |
+
-499.4992654754829,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 3.141592653589793
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-835.5908004047853,
|
| 240 |
+
-499.4992654754829,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 3.141592653589793
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-838.5908004047853,
|
| 253 |
+
-499.4992654754829,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 3.141592653589793
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-841.5908004047853,
|
| 266 |
+
-499.4992654754829,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 3.141592653589793
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-844.5908004047853,
|
| 279 |
+
-499.4992654754829,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 3.141592653589793
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-847.5908004047853,
|
| 292 |
+
-499.4992654754829,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 3.141592653589793
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-850.5908004047853,
|
| 305 |
+
-499.4992654754829,
|
| 306 |
+
87.81275808263148
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 3.141592653589793
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-853.5908004047853,
|
| 318 |
+
-499.4992654754829,
|
| 319 |
+
87.81275808263148
|
| 320 |
+
],
|
| 321 |
+
"type": "turn left",
|
| 322 |
+
"value": 30,
|
| 323 |
+
"yaw": 3.141592653589793
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-853.5908004047853,
|
| 331 |
+
-499.4992654754829,
|
| 332 |
+
87.81275808263148
|
| 333 |
+
],
|
| 334 |
+
"type": "turn left",
|
| 335 |
+
"value": 30,
|
| 336 |
+
"yaw": 3.665191429188092
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-853.5908004047853,
|
| 344 |
+
-499.4992654754829,
|
| 345 |
+
87.81275808263148
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 4.1887902047863905
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-855.0908004047853,
|
| 357 |
+
-502.0973416868362,
|
| 358 |
+
87.81275808263148
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -2.0943951023931953
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-856.5908004047853,
|
| 370 |
+
-504.69541789818953,
|
| 371 |
+
87.81275808263148
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": -2.0943951023931953
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
-858.0908004047853,
|
| 383 |
+
-507.29349410954285,
|
| 384 |
+
87.81275808263148
|
| 385 |
+
],
|
| 386 |
+
"type": "stop",
|
| 387 |
+
"value": 0,
|
| 388 |
+
"yaw": -2.0943951023931953
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"aim_landmark": {
|
| 393 |
+
"color": "test",
|
| 394 |
+
"feature": "test",
|
| 395 |
+
"position": [
|
| 396 |
+
-872.0,
|
| 397 |
+
-512.0,
|
| 398 |
+
73.4077
|
| 399 |
+
],
|
| 400 |
+
"shape": "test",
|
| 401 |
+
"dir": "right",
|
| 402 |
+
"size": "test",
|
| 403 |
+
"type": "building"
|
| 404 |
+
}
|
| 405 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_16-28-17_1780695788/pose.jsonl
ADDED
|
@@ -0,0 +1,275 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-956.04660710032,
|
| 6 |
+
-443.01935784868795,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-957.54660710032,
|
| 19 |
+
-445.61743406004126,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-959.04660710032,
|
| 32 |
+
-448.2155102713946,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-960.54660710032,
|
| 45 |
+
-450.8135864827479,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-962.04660710032,
|
| 58 |
+
-453.4116626941012,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-963.54660710032,
|
| 71 |
+
-456.0097389054545,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-965.04660710032,
|
| 84 |
+
-458.60781511680784,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-966.54660710032,
|
| 97 |
+
-461.20589132816116,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-968.04660710032,
|
| 110 |
+
-463.8039675395145,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-969.54660710032,
|
| 123 |
+
-466.4020437508678,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-971.04660710032,
|
| 136 |
+
-469.0001199622211,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-972.54660710032,
|
| 149 |
+
-471.5981961735744,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-974.04660710032,
|
| 162 |
+
-474.19627238492774,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-975.54660710032,
|
| 175 |
+
-476.79434859628105,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-977.04660710032,
|
| 188 |
+
-479.39242480763437,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-978.54660710032,
|
| 201 |
+
-481.9905010189877,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-980.04660710032,
|
| 214 |
+
-484.588577230341,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.0943951023931953
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-981.54660710032,
|
| 227 |
+
-487.1866534416943,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.0943951023931953
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-983.04660710032,
|
| 240 |
+
-489.78472965304763,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.0943951023931953
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-984.54660710032,
|
| 253 |
+
-492.38280586440095,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "stop",
|
| 257 |
+
"value": 0,
|
| 258 |
+
"yaw": -2.0943951023931953
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"aim_landmark": {
|
| 263 |
+
"color": "test",
|
| 264 |
+
"feature": "test",
|
| 265 |
+
"position": [
|
| 266 |
+
-996.0,
|
| 267 |
+
-520.0,
|
| 268 |
+
75.5737
|
| 269 |
+
],
|
| 270 |
+
"shape": "test",
|
| 271 |
+
"dir": "center",
|
| 272 |
+
"size": "test",
|
| 273 |
+
"type": "building"
|
| 274 |
+
}
|
| 275 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_16-37-40_1469834481/pose.jsonl
ADDED
|
@@ -0,0 +1,379 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-990.0203717392997,
|
| 6 |
+
-310.72952481530535,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-987.0203717392997,
|
| 19 |
+
-310.72952481530535,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-984.0203717392997,
|
| 32 |
+
-310.72952481530535,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-981.0203717392997,
|
| 45 |
+
-310.72952481530535,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-978.0203717392997,
|
| 58 |
+
-310.72952481530535,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-975.0203717392997,
|
| 71 |
+
-310.72952481530535,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-972.0203717392997,
|
| 84 |
+
-310.72952481530535,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-969.0203717392997,
|
| 97 |
+
-310.72952481530535,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.0
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-966.0203717392997,
|
| 110 |
+
-310.72952481530535,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.0
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-963.0203717392997,
|
| 123 |
+
-310.72952481530535,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.0
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-960.0203717392997,
|
| 136 |
+
-310.72952481530535,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.0
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-957.0203717392997,
|
| 149 |
+
-310.72952481530535,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "turn left",
|
| 153 |
+
"value": 30,
|
| 154 |
+
"yaw": 0.0
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-957.0203717392997,
|
| 162 |
+
-310.72952481530535,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "turn left",
|
| 166 |
+
"value": 30,
|
| 167 |
+
"yaw": 0.5235987755982988
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-957.0203717392997,
|
| 175 |
+
-310.72952481530535,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.0471975511965976
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-955.5203717392997,
|
| 188 |
+
-308.13144860395204,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.0471975511965979
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-954.0203717392997,
|
| 201 |
+
-305.5333723925987,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.0471975511965979
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-952.5203717392997,
|
| 214 |
+
-302.9352961812454,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "turn right",
|
| 218 |
+
"value": 30,
|
| 219 |
+
"yaw": 1.0471975511965979
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-952.5203717392997,
|
| 227 |
+
-302.9352961812454,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.523598775598299
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-949.9222955279463,
|
| 240 |
+
-301.4352961812454,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-947.3242193165929,
|
| 253 |
+
-299.9352961812454,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 0.5235987755982894
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-944.7261431052395,
|
| 266 |
+
-298.4352961812454,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 0.5235987755982894
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-942.1280668938862,
|
| 279 |
+
-296.9352961812454,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 0.5235987755982894
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-939.5299906825328,
|
| 292 |
+
-295.4352961812454,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 0.5235987755982894
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-936.9319144711794,
|
| 305 |
+
-293.9352961812454,
|
| 306 |
+
87.81275808263148
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 0.5235987755982894
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-934.333838259826,
|
| 318 |
+
-292.4352961812454,
|
| 319 |
+
87.81275808263148
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 0.5235987755982894
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-931.7357620484727,
|
| 331 |
+
-290.9352961812454,
|
| 332 |
+
87.81275808263148
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 0.5235987755982894
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-929.1376858371193,
|
| 344 |
+
-289.4352961812454,
|
| 345 |
+
87.81275808263148
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 0.5235987755982894
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-926.5396096257659,
|
| 357 |
+
-287.9352961812454,
|
| 358 |
+
87.81275808263148
|
| 359 |
+
],
|
| 360 |
+
"type": "stop",
|
| 361 |
+
"value": 0,
|
| 362 |
+
"yaw": 0.5235987755982894
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"aim_landmark": {
|
| 367 |
+
"color": "test",
|
| 368 |
+
"feature": "test",
|
| 369 |
+
"position": [
|
| 370 |
+
-900.0,
|
| 371 |
+
-280.0,
|
| 372 |
+
120.431
|
| 373 |
+
],
|
| 374 |
+
"shape": "test",
|
| 375 |
+
"dir": "center",
|
| 376 |
+
"size": "test",
|
| 377 |
+
"type": "building"
|
| 378 |
+
}
|
| 379 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_16-38-53_498777856/pose.jsonl
ADDED
|
@@ -0,0 +1,353 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-853.8911537974152,
|
| 6 |
+
-311.17738020288147,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-852.3911537974152,
|
| 19 |
+
-313.7754564142348,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-850.8911537974152,
|
| 32 |
+
-316.3735326255881,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-849.3911537974152,
|
| 45 |
+
-318.9716088369414,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-847.8911537974152,
|
| 58 |
+
-321.56968504829473,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-846.3911537974152,
|
| 71 |
+
-324.16776125964805,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-844.8911537974152,
|
| 84 |
+
-326.76583747100136,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-843.3911537974152,
|
| 97 |
+
-329.3639136823547,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-841.8911537974152,
|
| 110 |
+
-331.961989893708,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-840.3911537974152,
|
| 123 |
+
-334.5600661050613,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-838.8911537974152,
|
| 136 |
+
-337.1581423164146,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-837.3911537974152,
|
| 149 |
+
-339.75621852776794,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-835.8911537974152,
|
| 162 |
+
-342.35429473912126,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.0471975511965979
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-834.3911537974152,
|
| 175 |
+
-344.9523709504746,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-832.8911537974152,
|
| 188 |
+
-347.5504471618279,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.0471975511965979
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-831.3911537974152,
|
| 201 |
+
-350.1485233731812,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.0471975511965979
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-829.8911537974152,
|
| 214 |
+
-352.7465995845345,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.0471975511965979
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-828.3911537974152,
|
| 227 |
+
-355.34467579588784,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -1.0471975511965979
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-826.8911537974152,
|
| 240 |
+
-357.94275200724115,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "turn left",
|
| 244 |
+
"value": 30,
|
| 245 |
+
"yaw": -1.0471975511965979
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-826.8911537974152,
|
| 253 |
+
-357.94275200724115,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "turn left",
|
| 257 |
+
"value": 30,
|
| 258 |
+
"yaw": -0.523598775598299
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-826.8911537974152,
|
| 266 |
+
-357.94275200724115,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -2.220446049250313e-16
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-823.8911537974152,
|
| 279 |
+
-357.94275200724115,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 0.0
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-820.8911537974152,
|
| 292 |
+
-357.94275200724115,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 0.0
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-817.8911537974152,
|
| 305 |
+
-357.94275200724115,
|
| 306 |
+
87.81275808263148
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 0.0
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-814.8911537974152,
|
| 318 |
+
-357.94275200724115,
|
| 319 |
+
87.81275808263148
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 0.0
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-811.8911537974152,
|
| 331 |
+
-357.94275200724115,
|
| 332 |
+
87.81275808263148
|
| 333 |
+
],
|
| 334 |
+
"type": "stop",
|
| 335 |
+
"value": 0,
|
| 336 |
+
"yaw": 0.0
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"aim_landmark": {
|
| 341 |
+
"color": "test",
|
| 342 |
+
"feature": "test",
|
| 343 |
+
"position": [
|
| 344 |
+
-796.0,
|
| 345 |
+
-372.0,
|
| 346 |
+
91.3502
|
| 347 |
+
],
|
| 348 |
+
"shape": "test",
|
| 349 |
+
"dir": "right",
|
| 350 |
+
"size": "test",
|
| 351 |
+
"type": "building"
|
| 352 |
+
}
|
| 353 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_16-40-46_1600028624/pose.jsonl
ADDED
|
@@ -0,0 +1,249 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
56.89049332801214,
|
| 6 |
+
-267.28913770778786,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
59.89049332801214,
|
| 19 |
+
-267.28913770778786,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
62.89049332801214,
|
| 32 |
+
-267.28913770778786,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
65.89049332801214,
|
| 45 |
+
-267.28913770778786,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
68.89049332801214,
|
| 58 |
+
-267.28913770778786,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
71.89049332801214,
|
| 71 |
+
-267.28913770778786,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
74.89049332801214,
|
| 84 |
+
-267.28913770778786,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
77.89049332801214,
|
| 97 |
+
-267.28913770778786,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.0
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
80.89049332801214,
|
| 110 |
+
-267.28913770778786,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "turn left",
|
| 114 |
+
"value": 30,
|
| 115 |
+
"yaw": 0.0
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
80.89049332801214,
|
| 123 |
+
-267.28913770778786,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "turn left",
|
| 127 |
+
"value": 30,
|
| 128 |
+
"yaw": 0.5235987755982988
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
80.89049332801214,
|
| 136 |
+
-267.28913770778786,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511965976
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
82.39049332801214,
|
| 149 |
+
-264.69106149643454,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
83.89049332801214,
|
| 162 |
+
-262.0929852850812,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.0471975511965979
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
85.39049332801214,
|
| 175 |
+
-259.4949090737279,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
86.89049332801214,
|
| 188 |
+
-256.8968328623746,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "turn right",
|
| 192 |
+
"value": 30,
|
| 193 |
+
"yaw": 1.0471975511965979
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
86.89049332801214,
|
| 201 |
+
-256.8968328623746,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.523598775598299
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
89.48856953936546,
|
| 214 |
+
-255.3968328623746,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.5235987755982988
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
92.08664575071877,
|
| 227 |
+
-253.8968328623746,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "stop",
|
| 231 |
+
"value": 0,
|
| 232 |
+
"yaw": 0.5235987755982988
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"aim_landmark": {
|
| 237 |
+
"color": "test",
|
| 238 |
+
"feature": "test",
|
| 239 |
+
"position": [
|
| 240 |
+
132.0,
|
| 241 |
+
-240.0,
|
| 242 |
+
115.81
|
| 243 |
+
],
|
| 244 |
+
"shape": "test",
|
| 245 |
+
"dir": "center",
|
| 246 |
+
"size": "test",
|
| 247 |
+
"type": "building"
|
| 248 |
+
}
|
| 249 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_16-43-40_1631518149/pose.jsonl
ADDED
|
@@ -0,0 +1,301 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-854.0195768985315,
|
| 6 |
+
-431.7723672029777,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-852.5195768985315,
|
| 19 |
+
-429.1742909916244,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-851.0195768985315,
|
| 32 |
+
-426.5762147802711,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-849.5195768985315,
|
| 45 |
+
-423.97813856891776,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-848.0195768985315,
|
| 58 |
+
-421.38006235756444,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-846.5195768985315,
|
| 71 |
+
-418.7819861462111,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-845.0195768985315,
|
| 84 |
+
-416.1839099348578,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-843.5195768985315,
|
| 97 |
+
-413.5858337235045,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-842.0195768985315,
|
| 110 |
+
-410.9877575121512,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-840.5195768985315,
|
| 123 |
+
-408.38968130079786,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-839.0195768985315,
|
| 136 |
+
-405.79160508944454,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-837.5195768985315,
|
| 149 |
+
-403.19352887809123,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "turn right",
|
| 153 |
+
"value": 30,
|
| 154 |
+
"yaw": 1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-837.5195768985315,
|
| 162 |
+
-403.19352887809123,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.523598775598299
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-834.9215006871782,
|
| 175 |
+
-401.69352887809123,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.5235987755983084
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-832.3234244758248,
|
| 188 |
+
-400.19352887809123,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-829.7253482644714,
|
| 201 |
+
-398.69352887809123,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.5235987755982894
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-827.1272720531181,
|
| 214 |
+
-397.19352887809123,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-824.5291958417647,
|
| 227 |
+
-395.69352887809123,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.5235987755982894
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-821.9311196304113,
|
| 240 |
+
-394.19352887809123,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-819.333043419058,
|
| 253 |
+
-392.69352887809123,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 0.5235987755982894
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-816.7349672077046,
|
| 266 |
+
-391.19352887809123,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 0.5235987755982894
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-814.1368909963512,
|
| 279 |
+
-389.69352887809123,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "stop",
|
| 283 |
+
"value": 0,
|
| 284 |
+
"yaw": 0.5235987755982894
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"aim_landmark": {
|
| 289 |
+
"color": "test",
|
| 290 |
+
"feature": "test",
|
| 291 |
+
"position": [
|
| 292 |
+
-796.0,
|
| 293 |
+
-372.0,
|
| 294 |
+
91.3502
|
| 295 |
+
],
|
| 296 |
+
"shape": "test",
|
| 297 |
+
"dir": "center",
|
| 298 |
+
"size": "test",
|
| 299 |
+
"type": "building"
|
| 300 |
+
}
|
| 301 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_16-54-41_2103318776/pose.jsonl
ADDED
|
@@ -0,0 +1,132 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-829.5328323184201,
|
| 6 |
+
-595.5998566864712,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.6179938779915037
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-832.1309085297735,
|
| 19 |
+
-594.0998566864712,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.6179938779915037
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-834.7289847411269,
|
| 32 |
+
-592.5998566864712,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-837.3270609524802,
|
| 45 |
+
-591.0998566864712,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-839.9251371638336,
|
| 58 |
+
-589.5998566864712,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-842.523213375187,
|
| 71 |
+
-588.0998566864712,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-845.1212895865403,
|
| 84 |
+
-586.5998566864712,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-847.7193657978937,
|
| 97 |
+
-585.0998566864712,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-850.3174420092471,
|
| 110 |
+
-583.5998566864712,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "stop",
|
| 114 |
+
"value": 0,
|
| 115 |
+
"yaw": 2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"aim_landmark": {
|
| 120 |
+
"color": "test",
|
| 121 |
+
"feature": "test",
|
| 122 |
+
"position": [
|
| 123 |
+
-908.0,
|
| 124 |
+
-544.0,
|
| 125 |
+
115.729
|
| 126 |
+
],
|
| 127 |
+
"shape": "test",
|
| 128 |
+
"dir": "center",
|
| 129 |
+
"size": "test",
|
| 130 |
+
"type": "building"
|
| 131 |
+
}
|
| 132 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_17-13-0_2113903881/pose.jsonl
ADDED
|
@@ -0,0 +1,379 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-887.5985907600251,
|
| 6 |
+
-395.443899845135,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-884.5985907600251,
|
| 19 |
+
-395.443899845135,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-881.5985907600251,
|
| 32 |
+
-395.443899845135,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-878.5985907600251,
|
| 45 |
+
-395.443899845135,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-875.5985907600251,
|
| 58 |
+
-395.443899845135,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-872.5985907600251,
|
| 71 |
+
-395.443899845135,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-869.5985907600251,
|
| 84 |
+
-395.443899845135,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-866.5985907600251,
|
| 97 |
+
-395.443899845135,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.0
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-863.5985907600251,
|
| 110 |
+
-395.443899845135,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.0
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-860.5985907600251,
|
| 123 |
+
-395.443899845135,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.0
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-857.5985907600251,
|
| 136 |
+
-395.443899845135,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.0
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-854.5985907600251,
|
| 149 |
+
-395.443899845135,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.0
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-851.5985907600251,
|
| 162 |
+
-395.443899845135,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.0
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-848.5985907600251,
|
| 175 |
+
-395.443899845135,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.0
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-845.5985907600251,
|
| 188 |
+
-395.443899845135,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.0
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-842.5985907600251,
|
| 201 |
+
-395.443899845135,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "turn left",
|
| 205 |
+
"value": 30,
|
| 206 |
+
"yaw": 0.0
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-842.5985907600251,
|
| 214 |
+
-395.443899845135,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.5235987755982988
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-840.0005145486718,
|
| 227 |
+
-393.943899845135,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.5235987755983084
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-837.4024383373185,
|
| 240 |
+
-392.443899845135,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-834.8043621259651,
|
| 253 |
+
-390.943899845135,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 0.5235987755982894
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-832.2062859146117,
|
| 266 |
+
-389.443899845135,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 0.5235987755982894
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-829.6082097032584,
|
| 279 |
+
-387.943899845135,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 0.5235987755982894
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-827.010133491905,
|
| 292 |
+
-386.443899845135,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 0.5235987755982894
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-824.4120572805516,
|
| 305 |
+
-384.943899845135,
|
| 306 |
+
87.81275808263148
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 0.5235987755982894
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-821.8139810691982,
|
| 318 |
+
-383.443899845135,
|
| 319 |
+
87.81275808263148
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 0.5235987755982894
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-819.2159048578449,
|
| 331 |
+
-381.943899845135,
|
| 332 |
+
87.81275808263148
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 0.5235987755982894
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-816.6178286464915,
|
| 344 |
+
-380.443899845135,
|
| 345 |
+
87.81275808263148
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 0.5235987755982894
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-814.0197524351381,
|
| 357 |
+
-378.943899845135,
|
| 358 |
+
87.81275808263148
|
| 359 |
+
],
|
| 360 |
+
"type": "stop",
|
| 361 |
+
"value": 0,
|
| 362 |
+
"yaw": 0.5235987755982894
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"aim_landmark": {
|
| 367 |
+
"color": "test",
|
| 368 |
+
"feature": "test",
|
| 369 |
+
"position": [
|
| 370 |
+
-796.0,
|
| 371 |
+
-372.0,
|
| 372 |
+
91.3502
|
| 373 |
+
],
|
| 374 |
+
"shape": "test",
|
| 375 |
+
"dir": "center",
|
| 376 |
+
"size": "test",
|
| 377 |
+
"type": "building"
|
| 378 |
+
}
|
| 379 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_17-16-4_2025187190/pose.jsonl
ADDED
|
@@ -0,0 +1,340 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-871.326678064295,
|
| 6 |
+
-355.9580094756019,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-868.326678064295,
|
| 19 |
+
-355.9580094756019,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-865.326678064295,
|
| 32 |
+
-355.9580094756019,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-862.326678064295,
|
| 45 |
+
-355.9580094756019,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-859.326678064295,
|
| 58 |
+
-355.9580094756019,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-856.326678064295,
|
| 71 |
+
-355.9580094756019,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-853.326678064295,
|
| 84 |
+
-355.9580094756019,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-850.326678064295,
|
| 97 |
+
-355.9580094756019,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.0
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-847.326678064295,
|
| 110 |
+
-355.9580094756019,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.0
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-844.326678064295,
|
| 123 |
+
-355.9580094756019,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.0
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-841.326678064295,
|
| 136 |
+
-355.9580094756019,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.0
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-838.326678064295,
|
| 149 |
+
-355.9580094756019,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.0
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-835.326678064295,
|
| 162 |
+
-355.9580094756019,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.0
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-832.326678064295,
|
| 175 |
+
-355.9580094756019,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.0
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-829.326678064295,
|
| 188 |
+
-355.9580094756019,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.0
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-826.326678064295,
|
| 201 |
+
-355.9580094756019,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.0
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-823.326678064295,
|
| 214 |
+
-355.9580094756019,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "turn right",
|
| 218 |
+
"value": 30,
|
| 219 |
+
"yaw": 0.0
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-823.326678064295,
|
| 227 |
+
-355.9580094756019,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "turn right",
|
| 231 |
+
"value": 30,
|
| 232 |
+
"yaw": -0.5235987755982988
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-823.326678064295,
|
| 240 |
+
-355.9580094756019,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -1.0471975511965976
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-821.826678064295,
|
| 253 |
+
-358.5560856869552,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -1.0471975511965979
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-820.326678064295,
|
| 266 |
+
-361.15416189830853,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -1.0471975511965979
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-818.826678064295,
|
| 279 |
+
-363.75223810966185,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "turn left",
|
| 283 |
+
"value": 30,
|
| 284 |
+
"yaw": -1.0471975511965979
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-818.826678064295,
|
| 292 |
+
-363.75223810966185,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -0.523598775598299
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-816.2286018529417,
|
| 305 |
+
-365.25223810966185,
|
| 306 |
+
87.81275808263148
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -0.5235987755982894
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-813.6305256415883,
|
| 318 |
+
-366.75223810966185,
|
| 319 |
+
87.81275808263148
|
| 320 |
+
],
|
| 321 |
+
"type": "stop",
|
| 322 |
+
"value": 0,
|
| 323 |
+
"yaw": -0.5235987755982894
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"aim_landmark": {
|
| 328 |
+
"color": "test",
|
| 329 |
+
"feature": "test",
|
| 330 |
+
"position": [
|
| 331 |
+
-796.0,
|
| 332 |
+
-372.0,
|
| 333 |
+
91.3502
|
| 334 |
+
],
|
| 335 |
+
"shape": "test",
|
| 336 |
+
"dir": "center",
|
| 337 |
+
"size": "test",
|
| 338 |
+
"type": "building"
|
| 339 |
+
}
|
| 340 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_17-20-27_625032172/pose.jsonl
ADDED
|
@@ -0,0 +1,340 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-872.4054580234797,
|
| 6 |
+
-493.1381909472713,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.6179938779915037
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-875.0035342348331,
|
| 19 |
+
-494.6381909472713,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.6179938779915037
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-877.6016104461864,
|
| 32 |
+
-496.1381909472713,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-880.1996866575398,
|
| 45 |
+
-497.6381909472713,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-882.7977628688932,
|
| 58 |
+
-499.1381909472713,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-885.3958390802466,
|
| 71 |
+
-500.6381909472713,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-887.9939152915999,
|
| 84 |
+
-502.1381909472713,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-890.5919915029533,
|
| 97 |
+
-503.6381909472713,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "turn right",
|
| 101 |
+
"value": 30,
|
| 102 |
+
"yaw": -2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-890.5919915029533,
|
| 110 |
+
-503.6381909472713,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -3.1415926535898024
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-893.5919915029533,
|
| 123 |
+
-503.6381909472713,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "turn left",
|
| 127 |
+
"value": 30,
|
| 128 |
+
"yaw": 3.141592653589793
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-893.5919915029533,
|
| 136 |
+
-503.6381909472713,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "turn left",
|
| 140 |
+
"value": 30,
|
| 141 |
+
"yaw": 3.665191429188092
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-893.5919915029533,
|
| 149 |
+
-503.6381909472713,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "turn left",
|
| 153 |
+
"value": 30,
|
| 154 |
+
"yaw": 4.1887902047863905
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-893.5919915029533,
|
| 162 |
+
-503.6381909472713,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 4.71238898038469
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-893.5919915029533,
|
| 175 |
+
-506.6381909472713,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-893.5919915029533,
|
| 188 |
+
-509.6381909472713,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-893.5919915029533,
|
| 201 |
+
-512.6381909472714,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.5707963267948966
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-893.5919915029533,
|
| 214 |
+
-515.6381909472714,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.5707963267948966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-893.5919915029533,
|
| 227 |
+
-518.6381909472714,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -1.5707963267948966
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-893.5919915029533,
|
| 240 |
+
-521.6381909472714,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-893.5919915029533,
|
| 253 |
+
-524.6381909472714,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -1.5707963267948966
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-893.5919915029533,
|
| 266 |
+
-527.6381909472714,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "turn right",
|
| 270 |
+
"value": 30,
|
| 271 |
+
"yaw": -1.5707963267948966
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-893.5919915029533,
|
| 279 |
+
-527.6381909472714,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "turn right",
|
| 283 |
+
"value": 30,
|
| 284 |
+
"yaw": -2.0943951023931953
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-893.5919915029533,
|
| 292 |
+
-527.6381909472714,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -2.617993877991494
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-896.1900677143067,
|
| 305 |
+
-529.1381909472714,
|
| 306 |
+
87.81275808263148
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -2.6179938779915037
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-898.78814392566,
|
| 318 |
+
-530.6381909472714,
|
| 319 |
+
87.81275808263148
|
| 320 |
+
],
|
| 321 |
+
"type": "stop",
|
| 322 |
+
"value": 0,
|
| 323 |
+
"yaw": -2.6179938779915037
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"aim_landmark": {
|
| 328 |
+
"color": "test",
|
| 329 |
+
"feature": "test",
|
| 330 |
+
"position": [
|
| 331 |
+
-908.0,
|
| 332 |
+
-544.0,
|
| 333 |
+
115.729
|
| 334 |
+
],
|
| 335 |
+
"shape": "test",
|
| 336 |
+
"dir": "center",
|
| 337 |
+
"size": "test",
|
| 338 |
+
"type": "building"
|
| 339 |
+
}
|
| 340 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_17-22-10_1799878206/pose.jsonl
ADDED
|
@@ -0,0 +1,392 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-836.366451652787,
|
| 6 |
+
-480.5607059724925,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.6179938779915037
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-838.9645278641403,
|
| 19 |
+
-482.0607059724925,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.6179938779915037
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-841.5626040754937,
|
| 32 |
+
-483.5607059724925,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-844.1606802868471,
|
| 45 |
+
-485.0607059724925,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-846.7587564982005,
|
| 58 |
+
-486.5607059724925,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-849.3568327095538,
|
| 71 |
+
-488.0607059724925,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-851.9549089209072,
|
| 84 |
+
-489.5607059724925,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-854.5529851322606,
|
| 97 |
+
-491.0607059724925,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-857.151061343614,
|
| 110 |
+
-492.5607059724925,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-859.7491375549673,
|
| 123 |
+
-494.0607059724925,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "turn left",
|
| 127 |
+
"value": 30,
|
| 128 |
+
"yaw": -2.6179938779915037
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-859.7491375549673,
|
| 136 |
+
-494.0607059724925,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.094395102393205
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-861.2491375549673,
|
| 149 |
+
-496.6587821838458,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-862.7491375549673,
|
| 162 |
+
-499.2568583951991,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-864.2491375549673,
|
| 175 |
+
-501.85493460655243,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-865.7491375549673,
|
| 188 |
+
-504.45301081790575,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-867.2491375549673,
|
| 201 |
+
-507.05108702925907,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-868.7491375549673,
|
| 214 |
+
-509.6491632406124,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.0943951023931953
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-870.2491375549673,
|
| 227 |
+
-512.2472394519657,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.0943951023931953
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-871.7491375549673,
|
| 240 |
+
-514.8453156633191,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.094395102393186
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-873.2491375549673,
|
| 253 |
+
-517.4433918746724,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.094395102393186
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-874.7491375549673,
|
| 266 |
+
-520.0414680860258,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -2.094395102393186
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-876.2491375549673,
|
| 279 |
+
-522.6395442973792,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "turn right",
|
| 283 |
+
"value": 30,
|
| 284 |
+
"yaw": -2.094395102393186
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-876.2491375549673,
|
| 292 |
+
-522.6395442973792,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -2.6179938779914846
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-878.8472137663207,
|
| 305 |
+
-524.1395442973792,
|
| 306 |
+
87.81275808263148
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -2.6179938779915037
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-881.4452899776741,
|
| 318 |
+
-525.6395442973792,
|
| 319 |
+
87.81275808263148
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -2.6179938779915037
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-884.0433661890274,
|
| 331 |
+
-527.1395442973792,
|
| 332 |
+
87.81275808263148
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -2.6179938779915037
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-886.6414424003808,
|
| 344 |
+
-528.6395442973792,
|
| 345 |
+
87.81275808263148
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -2.6179938779915037
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-889.2395186117342,
|
| 357 |
+
-530.1395442973792,
|
| 358 |
+
87.81275808263148
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -2.6179938779915037
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-891.8375948230876,
|
| 370 |
+
-531.6395442973792,
|
| 371 |
+
87.81275808263148
|
| 372 |
+
],
|
| 373 |
+
"type": "stop",
|
| 374 |
+
"value": 0,
|
| 375 |
+
"yaw": -2.6179938779915037
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"aim_landmark": {
|
| 380 |
+
"color": "test",
|
| 381 |
+
"feature": "test",
|
| 382 |
+
"position": [
|
| 383 |
+
-908.0,
|
| 384 |
+
-544.0,
|
| 385 |
+
115.729
|
| 386 |
+
],
|
| 387 |
+
"shape": "test",
|
| 388 |
+
"dir": "center",
|
| 389 |
+
"size": "test",
|
| 390 |
+
"type": "building"
|
| 391 |
+
}
|
| 392 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_17-23-6_1070575321/pose.jsonl
ADDED
|
@@ -0,0 +1,353 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1084.4993148050748,
|
| 6 |
+
-107.97926342675254,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-1081.4993148050748,
|
| 19 |
+
-107.97926342675254,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-1078.4993148050748,
|
| 32 |
+
-107.97926342675254,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-1075.4993148050748,
|
| 45 |
+
-107.97926342675254,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-1072.4993148050748,
|
| 58 |
+
-107.97926342675254,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-1069.4993148050748,
|
| 71 |
+
-107.97926342675254,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-1066.4993148050748,
|
| 84 |
+
-107.97926342675254,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-1063.4993148050748,
|
| 97 |
+
-107.97926342675254,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.0
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-1060.4993148050748,
|
| 110 |
+
-107.97926342675254,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.0
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-1057.4993148050748,
|
| 123 |
+
-107.97926342675254,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.0
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-1054.4993148050748,
|
| 136 |
+
-107.97926342675254,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.0
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-1051.4993148050748,
|
| 149 |
+
-107.97926342675254,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.0
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-1048.4993148050748,
|
| 162 |
+
-107.97926342675254,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.0
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-1045.4993148050748,
|
| 175 |
+
-107.97926342675254,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.0
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-1042.4993148050748,
|
| 188 |
+
-107.97926342675254,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.0
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-1039.4993148050748,
|
| 201 |
+
-107.97926342675254,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.0
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-1036.4993148050748,
|
| 214 |
+
-107.97926342675254,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.0
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-1033.4993148050748,
|
| 227 |
+
-107.97926342675254,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.0
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-1030.4993148050748,
|
| 240 |
+
-107.97926342675254,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.0
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-1027.4993148050748,
|
| 253 |
+
-107.97926342675254,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 0.0
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-1024.4993148050748,
|
| 266 |
+
-107.97926342675254,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 0.0
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-1021.4993148050748,
|
| 279 |
+
-107.97926342675254,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 0.0
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-1018.4993148050748,
|
| 292 |
+
-107.97926342675254,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 0.0
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-1015.4993148050748,
|
| 305 |
+
-107.97926342675254,
|
| 306 |
+
87.81275808263148
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 0.0
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-1012.4993148050748,
|
| 318 |
+
-107.97926342675254,
|
| 319 |
+
87.81275808263148
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 0.0
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-1009.4993148050748,
|
| 331 |
+
-107.97926342675254,
|
| 332 |
+
87.81275808263148
|
| 333 |
+
],
|
| 334 |
+
"type": "stop",
|
| 335 |
+
"value": 0,
|
| 336 |
+
"yaw": 0.0
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"aim_landmark": {
|
| 341 |
+
"color": "test",
|
| 342 |
+
"feature": "test",
|
| 343 |
+
"position": [
|
| 344 |
+
-996.0,
|
| 345 |
+
-108.0,
|
| 346 |
+
73.4265
|
| 347 |
+
],
|
| 348 |
+
"shape": "test",
|
| 349 |
+
"dir": "center",
|
| 350 |
+
"size": "test",
|
| 351 |
+
"type": "building"
|
| 352 |
+
}
|
| 353 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_17-29-44_1414647625/pose.jsonl
ADDED
|
@@ -0,0 +1,210 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-939.387968886907,
|
| 6 |
+
-494.42174712792627,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.6179938779915037
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-941.9860450982603,
|
| 19 |
+
-495.92174712792627,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.6179938779915037
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-944.5841213096137,
|
| 32 |
+
-497.42174712792627,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-947.1821975209671,
|
| 45 |
+
-498.92174712792627,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-949.7802737323204,
|
| 58 |
+
-500.42174712792627,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-952.3783499436738,
|
| 71 |
+
-501.92174712792627,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-954.9764261550272,
|
| 84 |
+
-503.42174712792627,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-957.5745023663806,
|
| 97 |
+
-504.92174712792627,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-960.1725785777339,
|
| 110 |
+
-506.42174712792627,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-962.7706547890873,
|
| 123 |
+
-507.92174712792627,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.6179938779915037
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-965.3687310004407,
|
| 136 |
+
-509.42174712792627,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "turn right",
|
| 140 |
+
"value": 30,
|
| 141 |
+
"yaw": -2.6179938779915037
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-965.3687310004407,
|
| 149 |
+
-509.42174712792627,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -3.1415926535898024
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-968.3687310004407,
|
| 162 |
+
-509.42174712792627,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 3.141592653589793
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-971.3687310004407,
|
| 175 |
+
-509.42174712792627,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 3.141592653589793
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-974.3687310004407,
|
| 188 |
+
-509.42174712792627,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "stop",
|
| 192 |
+
"value": 0,
|
| 193 |
+
"yaw": 3.141592653589793
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"aim_landmark": {
|
| 198 |
+
"color": "test",
|
| 199 |
+
"feature": "test",
|
| 200 |
+
"position": [
|
| 201 |
+
-996.0,
|
| 202 |
+
-520.0,
|
| 203 |
+
75.5737
|
| 204 |
+
],
|
| 205 |
+
"shape": "test",
|
| 206 |
+
"dir": "center",
|
| 207 |
+
"size": "test",
|
| 208 |
+
"type": "building"
|
| 209 |
+
}
|
| 210 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_17-32-47_1566288819/pose.jsonl
ADDED
|
@@ -0,0 +1,327 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
44.63061730824246,
|
| 6 |
+
-285.2531201164255,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
47.63061730824246,
|
| 19 |
+
-285.2531201164255,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
50.63061730824246,
|
| 32 |
+
-285.2531201164255,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
53.63061730824246,
|
| 45 |
+
-285.2531201164255,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
56.63061730824246,
|
| 58 |
+
-285.2531201164255,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
59.63061730824246,
|
| 71 |
+
-285.2531201164255,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
62.63061730824246,
|
| 84 |
+
-285.2531201164255,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
65.63061730824246,
|
| 97 |
+
-285.2531201164255,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.0
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
68.63061730824246,
|
| 110 |
+
-285.2531201164255,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.0
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
71.63061730824246,
|
| 123 |
+
-285.2531201164255,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "turn left",
|
| 127 |
+
"value": 30,
|
| 128 |
+
"yaw": 0.0
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
71.63061730824246,
|
| 136 |
+
-285.2531201164255,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "turn left",
|
| 140 |
+
"value": 30,
|
| 141 |
+
"yaw": 0.5235987755982988
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
71.63061730824246,
|
| 149 |
+
-285.2531201164255,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.0471975511965976
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
73.13061730824246,
|
| 162 |
+
-282.6550439050722,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.0471975511965979
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
74.63061730824246,
|
| 175 |
+
-280.0569676937189,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
76.13061730824246,
|
| 188 |
+
-277.4588914823656,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.0471975511965979
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
77.63061730824246,
|
| 201 |
+
-274.86081527101226,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.0471975511965979
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
79.13061730824246,
|
| 214 |
+
-272.26273905965894,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.0471975511965979
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
80.63061730824246,
|
| 227 |
+
-269.6646628483056,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "turn right",
|
| 231 |
+
"value": 30,
|
| 232 |
+
"yaw": 1.0471975511965979
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
80.63061730824246,
|
| 240 |
+
-269.6646628483056,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.523598775598299
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
83.22869351959578,
|
| 253 |
+
-268.1646628483056,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 0.5235987755982988
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
85.8267697309491,
|
| 266 |
+
-266.6646628483056,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 0.5235987755982988
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
88.42484594230241,
|
| 279 |
+
-265.1646628483056,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 0.5235987755982988
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
91.02292215365573,
|
| 292 |
+
-263.6646628483056,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 0.5235987755982988
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
93.62099836500904,
|
| 305 |
+
-262.1646628483056,
|
| 306 |
+
87.81275808263148
|
| 307 |
+
],
|
| 308 |
+
"type": "stop",
|
| 309 |
+
"value": 0,
|
| 310 |
+
"yaw": 0.5235987755982988
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"aim_landmark": {
|
| 315 |
+
"color": "test",
|
| 316 |
+
"feature": "test",
|
| 317 |
+
"position": [
|
| 318 |
+
132.0,
|
| 319 |
+
-240.0,
|
| 320 |
+
115.81
|
| 321 |
+
],
|
| 322 |
+
"shape": "test",
|
| 323 |
+
"dir": "center",
|
| 324 |
+
"size": "test",
|
| 325 |
+
"type": "building"
|
| 326 |
+
}
|
| 327 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_17-43-10_1309383303/pose.jsonl
ADDED
|
@@ -0,0 +1,366 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-856.2065131966189,
|
| 6 |
+
-172.7115112232975,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-857.7065131966189,
|
| 19 |
+
-170.11343501194418,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-859.2065131966189,
|
| 32 |
+
-167.51535880059086,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-860.7065131966189,
|
| 45 |
+
-164.91728258923754,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-862.2065131966189,
|
| 58 |
+
-162.31920637788423,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-863.7065131966189,
|
| 71 |
+
-159.7211301665309,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-865.2065131966189,
|
| 84 |
+
-157.1230539551776,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-866.7065131966189,
|
| 97 |
+
-154.52497774382428,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-868.2065131966189,
|
| 110 |
+
-151.92690153247096,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-869.7065131966189,
|
| 123 |
+
-149.32882532111765,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-871.2065131966189,
|
| 136 |
+
-146.73074910976433,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-872.7065131966189,
|
| 149 |
+
-144.13267289841102,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-874.2065131966189,
|
| 162 |
+
-141.5345966870577,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-875.7065131966189,
|
| 175 |
+
-138.93652047570438,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-877.2065131966189,
|
| 188 |
+
-136.33844426435107,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-878.7065131966189,
|
| 201 |
+
-133.74036805299775,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-880.2065131966189,
|
| 214 |
+
-131.14229184164444,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 2.0943951023931953
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-881.7065131966189,
|
| 227 |
+
-128.54421563029112,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "turn right",
|
| 231 |
+
"value": 30,
|
| 232 |
+
"yaw": 2.0943951023931953
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-881.7065131966189,
|
| 240 |
+
-128.54421563029112,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-881.7065131966189,
|
| 253 |
+
-125.54421563029112,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 1.5707963267948966
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-881.7065131966189,
|
| 266 |
+
-122.54421563029112,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 1.5707963267948966
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-881.7065131966189,
|
| 279 |
+
-119.54421563029112,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 1.5707963267948966
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-881.7065131966189,
|
| 292 |
+
-116.54421563029112,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 1.5707963267948966
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-881.7065131966189,
|
| 305 |
+
-113.54421563029112,
|
| 306 |
+
87.81275808263148
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 1.5707963267948966
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-881.7065131966189,
|
| 318 |
+
-110.54421563029112,
|
| 319 |
+
87.81275808263148
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 1.5707963267948966
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-881.7065131966189,
|
| 331 |
+
-107.54421563029112,
|
| 332 |
+
87.81275808263148
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 1.5707963267948966
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-881.7065131966189,
|
| 344 |
+
-104.54421563029112,
|
| 345 |
+
87.81275808263148
|
| 346 |
+
],
|
| 347 |
+
"type": "stop",
|
| 348 |
+
"value": 0,
|
| 349 |
+
"yaw": 1.5707963267948966
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"aim_landmark": {
|
| 354 |
+
"color": "test",
|
| 355 |
+
"feature": "test",
|
| 356 |
+
"position": [
|
| 357 |
+
-888.0,
|
| 358 |
+
-80.0,
|
| 359 |
+
120.431
|
| 360 |
+
],
|
| 361 |
+
"shape": "test",
|
| 362 |
+
"dir": "center",
|
| 363 |
+
"size": "test",
|
| 364 |
+
"type": "building"
|
| 365 |
+
}
|
| 366 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_17-46-42_767066249/pose.jsonl
ADDED
|
@@ -0,0 +1,132 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-955.6959652301317,
|
| 6 |
+
-159.85279989452744,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-957.1959652301317,
|
| 19 |
+
-157.25472368317412,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-958.6959652301317,
|
| 32 |
+
-154.6566474718208,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-960.1959652301317,
|
| 45 |
+
-152.0585712604675,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-961.6959652301317,
|
| 58 |
+
-149.46049504911417,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-963.1959652301317,
|
| 71 |
+
-146.86241883776086,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "turn left",
|
| 75 |
+
"value": 30,
|
| 76 |
+
"yaw": 2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-963.1959652301317,
|
| 84 |
+
-146.86241883776086,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.617993877991494
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-965.794041441485,
|
| 97 |
+
-145.36241883776086,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.617993877991485
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-968.3921176528384,
|
| 110 |
+
-143.86241883776086,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "stop",
|
| 114 |
+
"value": 0,
|
| 115 |
+
"yaw": 2.617993877991485
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"aim_landmark": {
|
| 120 |
+
"color": "test",
|
| 121 |
+
"feature": "test",
|
| 122 |
+
"position": [
|
| 123 |
+
-996.0,
|
| 124 |
+
-108.0,
|
| 125 |
+
73.4265
|
| 126 |
+
],
|
| 127 |
+
"shape": "test",
|
| 128 |
+
"dir": "center",
|
| 129 |
+
"size": "test",
|
| 130 |
+
"type": "building"
|
| 131 |
+
}
|
| 132 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_17-47-13_1750003033/pose.jsonl
ADDED
|
@@ -0,0 +1,184 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
92.12653626969244,
|
| 6 |
+
-47.750538211971744,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.6179938779914944
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
89.52846005833912,
|
| 19 |
+
-49.250538211971744,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.6179938779914944
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
86.9303838469858,
|
| 32 |
+
-50.750538211971744,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779914944
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
84.33230763563249,
|
| 45 |
+
-52.250538211971744,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779914944
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
81.73423142427917,
|
| 58 |
+
-53.750538211971744,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779914944
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
79.13615521292586,
|
| 71 |
+
-55.250538211971744,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779914944
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
76.53807900157254,
|
| 84 |
+
-56.750538211971744,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779914944
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
73.94000279021922,
|
| 97 |
+
-58.250538211971744,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.6179938779914944
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
71.34192657886591,
|
| 110 |
+
-59.750538211971744,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.6179938779914944
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
68.7438503675126,
|
| 123 |
+
-61.250538211971744,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.6179938779914944
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
66.14577415615928,
|
| 136 |
+
-62.750538211971744,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.6179938779914944
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
63.54769794480596,
|
| 149 |
+
-64.25053821197174,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.6179938779914944
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
60.949621733452645,
|
| 162 |
+
-65.75053821197174,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "stop",
|
| 166 |
+
"value": 0,
|
| 167 |
+
"yaw": -2.6179938779914944
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"aim_landmark": {
|
| 172 |
+
"color": "test",
|
| 173 |
+
"feature": "test",
|
| 174 |
+
"position": [
|
| 175 |
+
36.0,
|
| 176 |
+
-84.0,
|
| 177 |
+
79.2117
|
| 178 |
+
],
|
| 179 |
+
"shape": "test",
|
| 180 |
+
"dir": "center",
|
| 181 |
+
"size": "test",
|
| 182 |
+
"type": "building"
|
| 183 |
+
}
|
| 184 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_17-49-5_474613996/pose.jsonl
ADDED
|
@@ -0,0 +1,340 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-57.0957839255136,
|
| 6 |
+
-95.21521763007436,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-54.0957839255136,
|
| 19 |
+
-95.21521763007436,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-51.0957839255136,
|
| 32 |
+
-95.21521763007436,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-48.0957839255136,
|
| 45 |
+
-95.21521763007436,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-45.0957839255136,
|
| 58 |
+
-95.21521763007436,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-42.0957839255136,
|
| 71 |
+
-95.21521763007436,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-39.0957839255136,
|
| 84 |
+
-95.21521763007436,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-36.0957839255136,
|
| 97 |
+
-95.21521763007436,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.0
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-33.0957839255136,
|
| 110 |
+
-95.21521763007436,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.0
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-30.0957839255136,
|
| 123 |
+
-95.21521763007436,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.0
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-27.0957839255136,
|
| 136 |
+
-95.21521763007436,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.0
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-24.0957839255136,
|
| 149 |
+
-95.21521763007436,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.0
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-21.0957839255136,
|
| 162 |
+
-95.21521763007436,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.0
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-18.0957839255136,
|
| 175 |
+
-95.21521763007436,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.0
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-15.0957839255136,
|
| 188 |
+
-95.21521763007436,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.0
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-12.0957839255136,
|
| 201 |
+
-95.21521763007436,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.0
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-9.0957839255136,
|
| 214 |
+
-95.21521763007436,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.0
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-6.095783925513601,
|
| 227 |
+
-95.21521763007436,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.0
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-3.095783925513601,
|
| 240 |
+
-95.21521763007436,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.0
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-0.09578392551360082,
|
| 253 |
+
-95.21521763007436,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "turn left",
|
| 257 |
+
"value": 30,
|
| 258 |
+
"yaw": 0.0
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-0.09578392551360082,
|
| 266 |
+
-95.21521763007436,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 0.5235987755982988
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
2.502292285839715,
|
| 279 |
+
-93.71521763007436,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 0.5235987755982988
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
5.100368497193031,
|
| 292 |
+
-92.21521763007436,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 0.5235987755982988
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
7.698444708546347,
|
| 305 |
+
-90.71521763007436,
|
| 306 |
+
87.81275808263148
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 0.5235987755982988
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
10.296520919899663,
|
| 318 |
+
-89.21521763007436,
|
| 319 |
+
87.81275808263148
|
| 320 |
+
],
|
| 321 |
+
"type": "stop",
|
| 322 |
+
"value": 0,
|
| 323 |
+
"yaw": 0.5235987755982988
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"aim_landmark": {
|
| 328 |
+
"color": "test",
|
| 329 |
+
"feature": "test",
|
| 330 |
+
"position": [
|
| 331 |
+
36.0,
|
| 332 |
+
-84.0,
|
| 333 |
+
79.2117
|
| 334 |
+
],
|
| 335 |
+
"shape": "test",
|
| 336 |
+
"dir": "center",
|
| 337 |
+
"size": "test",
|
| 338 |
+
"type": "building"
|
| 339 |
+
}
|
| 340 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_17-5-2_392035568/pose.jsonl
ADDED
|
@@ -0,0 +1,275 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-689.9076422759368,
|
| 6 |
+
-297.73573763498734,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.617993877991485
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-692.5057184872901,
|
| 19 |
+
-296.23573763498734,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.617993877991485
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-695.1037946986435,
|
| 32 |
+
-294.73573763498734,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-697.7018709099968,
|
| 45 |
+
-293.23573763498734,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-700.2999471213502,
|
| 58 |
+
-291.73573763498734,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-702.8980233327036,
|
| 71 |
+
-290.23573763498734,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-705.496099544057,
|
| 84 |
+
-288.73573763498734,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-708.0941757554103,
|
| 97 |
+
-287.23573763498734,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-710.6922519667637,
|
| 110 |
+
-285.73573763498734,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "turn left",
|
| 114 |
+
"value": 30,
|
| 115 |
+
"yaw": 2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-710.6922519667637,
|
| 123 |
+
-285.73573763498734,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 3.1415926535898024
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-713.6922519667637,
|
| 136 |
+
-285.73573763498734,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 3.141592653589793
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-716.6922519667637,
|
| 149 |
+
-285.73573763498734,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 3.141592653589793
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-719.6922519667637,
|
| 162 |
+
-285.73573763498734,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 3.141592653589793
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-722.6922519667637,
|
| 175 |
+
-285.73573763498734,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 3.141592653589793
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-725.6922519667637,
|
| 188 |
+
-285.73573763498734,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 3.141592653589793
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-728.6922519667637,
|
| 201 |
+
-285.73573763498734,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 3.141592653589793
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-731.6922519667637,
|
| 214 |
+
-285.73573763498734,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 3.141592653589793
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-734.6922519667637,
|
| 227 |
+
-285.73573763498734,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 3.141592653589793
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-737.6922519667637,
|
| 240 |
+
-285.73573763498734,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 3.141592653589793
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-740.6922519667637,
|
| 253 |
+
-285.73573763498734,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "stop",
|
| 257 |
+
"value": 0,
|
| 258 |
+
"yaw": 3.141592653589793
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"aim_landmark": {
|
| 263 |
+
"color": "test",
|
| 264 |
+
"feature": "test",
|
| 265 |
+
"position": [
|
| 266 |
+
-760.0,
|
| 267 |
+
-280.0,
|
| 268 |
+
80.3059
|
| 269 |
+
],
|
| 270 |
+
"shape": "test",
|
| 271 |
+
"dir": "right",
|
| 272 |
+
"size": "test",
|
| 273 |
+
"type": "building"
|
| 274 |
+
}
|
| 275 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_17-53-13_820697697/pose.jsonl
ADDED
|
@@ -0,0 +1,262 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-929.3632768749186,
|
| 6 |
+
-560.5162306832617,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.617993877991485
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-931.9613530862719,
|
| 19 |
+
-559.0162306832617,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.617993877991485
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-934.5594292976252,
|
| 32 |
+
-557.5162306832617,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-937.1575055089786,
|
| 45 |
+
-556.0162306832617,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-939.755581720332,
|
| 58 |
+
-554.5162306832617,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-942.3536579316853,
|
| 71 |
+
-553.0162306832617,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-944.9517341430387,
|
| 84 |
+
-551.5162306832617,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-947.5498103543921,
|
| 97 |
+
-550.0162306832617,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-950.1478865657455,
|
| 110 |
+
-548.5162306832617,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-952.7459627770988,
|
| 123 |
+
-547.0162306832617,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.6179938779915037
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-955.3440389884522,
|
| 136 |
+
-545.5162306832617,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.6179938779915037
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-957.9421151998056,
|
| 149 |
+
-544.0162306832617,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.6179938779915037
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-960.540191411159,
|
| 162 |
+
-542.5162306832617,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.6179938779915037
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-963.1382676225123,
|
| 175 |
+
-541.0162306832617,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.6179938779915037
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-965.7363438338657,
|
| 188 |
+
-539.5162306832617,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.6179938779915037
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-968.3344200452191,
|
| 201 |
+
-538.0162306832617,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.6179938779915037
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-970.9324962565724,
|
| 214 |
+
-536.5162306832617,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 2.6179938779915037
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-973.5305724679258,
|
| 227 |
+
-535.0162306832617,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 2.6179938779915037
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-976.1286486792792,
|
| 240 |
+
-533.5162306832617,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "stop",
|
| 244 |
+
"value": 0,
|
| 245 |
+
"yaw": 2.6179938779915037
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"aim_landmark": {
|
| 250 |
+
"color": "test",
|
| 251 |
+
"feature": "test",
|
| 252 |
+
"position": [
|
| 253 |
+
-996.0,
|
| 254 |
+
-520.0,
|
| 255 |
+
75.5737
|
| 256 |
+
],
|
| 257 |
+
"shape": "test",
|
| 258 |
+
"dir": "center",
|
| 259 |
+
"size": "test",
|
| 260 |
+
"type": "building"
|
| 261 |
+
}
|
| 262 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_17-57-11_860516127/pose.jsonl
ADDED
|
@@ -0,0 +1,379 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-830.8628577161443,
|
| 6 |
+
-484.2615150501033,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.617993877991485
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-833.4609339274975,
|
| 19 |
+
-485.7615150501033,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.617993877991485
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-836.0590101388509,
|
| 32 |
+
-487.2615150501033,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-838.6570863502043,
|
| 45 |
+
-488.7615150501033,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-841.2551625615577,
|
| 58 |
+
-490.2615150501033,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-843.853238772911,
|
| 71 |
+
-491.7615150501033,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-846.4513149842644,
|
| 84 |
+
-493.2615150501033,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-849.0493911956178,
|
| 97 |
+
-494.7615150501033,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-851.6474674069711,
|
| 110 |
+
-496.2615150501033,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-854.2455436183245,
|
| 123 |
+
-497.7615150501033,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.6179938779915037
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-856.8436198296779,
|
| 136 |
+
-499.2615150501033,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "turn left",
|
| 140 |
+
"value": 30,
|
| 141 |
+
"yaw": -2.6179938779915037
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-856.8436198296779,
|
| 149 |
+
-499.2615150501033,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.094395102393205
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-858.3436198296779,
|
| 162 |
+
-501.8595912614566,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-859.8436198296779,
|
| 175 |
+
-504.45766747280993,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-861.3436198296779,
|
| 188 |
+
-507.05574368416325,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-862.8436198296779,
|
| 201 |
+
-509.65381989551656,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-864.3436198296779,
|
| 214 |
+
-512.2518961068699,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.094395102393186
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-865.8436198296779,
|
| 227 |
+
-514.8499723182233,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "turn right",
|
| 231 |
+
"value": 30,
|
| 232 |
+
"yaw": -2.094395102393186
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-865.8436198296779,
|
| 240 |
+
-514.8499723182233,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.6179938779914846
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-868.4416960410313,
|
| 253 |
+
-516.3499723182233,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.6179938779915037
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-871.0397722523846,
|
| 266 |
+
-517.8499723182233,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -2.6179938779915037
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-873.637848463738,
|
| 279 |
+
-519.3499723182233,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -2.6179938779915037
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-876.2359246750914,
|
| 292 |
+
-520.8499723182233,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -2.6179938779915037
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-878.8340008864448,
|
| 305 |
+
-522.3499723182233,
|
| 306 |
+
87.81275808263148
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -2.6179938779915037
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-881.4320770977981,
|
| 318 |
+
-523.8499723182233,
|
| 319 |
+
87.81275808263148
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -2.6179938779915037
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-884.0301533091515,
|
| 331 |
+
-525.3499723182233,
|
| 332 |
+
87.81275808263148
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -2.6179938779915037
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-886.6282295205049,
|
| 344 |
+
-526.8499723182233,
|
| 345 |
+
87.81275808263148
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -2.6179938779915037
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-889.2263057318582,
|
| 357 |
+
-528.3499723182233,
|
| 358 |
+
87.81275808263148
|
| 359 |
+
],
|
| 360 |
+
"type": "stop",
|
| 361 |
+
"value": 0,
|
| 362 |
+
"yaw": -2.6179938779915037
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"aim_landmark": {
|
| 367 |
+
"color": "test",
|
| 368 |
+
"feature": "test",
|
| 369 |
+
"position": [
|
| 370 |
+
-908.0,
|
| 371 |
+
-544.0,
|
| 372 |
+
115.729
|
| 373 |
+
],
|
| 374 |
+
"shape": "test",
|
| 375 |
+
"dir": "center",
|
| 376 |
+
"size": "test",
|
| 377 |
+
"type": "building"
|
| 378 |
+
}
|
| 379 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_18-28-42_1190668363/pose.jsonl
ADDED
|
@@ -0,0 +1,249 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-903.8180639807427,
|
| 6 |
+
-481.02448193001254,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-903.8180639807427,
|
| 19 |
+
-484.02448193001254,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-903.8180639807427,
|
| 32 |
+
-487.02448193001254,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-903.8180639807427,
|
| 45 |
+
-490.02448193001254,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-903.8180639807427,
|
| 58 |
+
-493.02448193001254,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-903.8180639807427,
|
| 71 |
+
-496.02448193001254,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-903.8180639807427,
|
| 84 |
+
-499.02448193001254,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-903.8180639807427,
|
| 97 |
+
-502.02448193001254,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-903.8180639807427,
|
| 110 |
+
-505.02448193001254,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-903.8180639807427,
|
| 123 |
+
-508.02448193001254,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-903.8180639807427,
|
| 136 |
+
-511.02448193001254,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-903.8180639807427,
|
| 149 |
+
-514.0244819300126,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-903.8180639807427,
|
| 162 |
+
-517.0244819300126,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-903.8180639807427,
|
| 175 |
+
-520.0244819300126,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-903.8180639807427,
|
| 188 |
+
-523.0244819300126,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "turn right",
|
| 192 |
+
"value": 30,
|
| 193 |
+
"yaw": -1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-903.8180639807427,
|
| 201 |
+
-523.0244819300126,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-905.3180639807427,
|
| 214 |
+
-525.622558141366,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.094395102393186
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-906.8180639807427,
|
| 227 |
+
-528.2206343527193,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "stop",
|
| 231 |
+
"value": 0,
|
| 232 |
+
"yaw": -2.094395102393186
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"aim_landmark": {
|
| 237 |
+
"color": "test",
|
| 238 |
+
"feature": "test",
|
| 239 |
+
"position": [
|
| 240 |
+
-908.0,
|
| 241 |
+
-544.0,
|
| 242 |
+
115.729
|
| 243 |
+
],
|
| 244 |
+
"shape": "test",
|
| 245 |
+
"dir": "center",
|
| 246 |
+
"size": "test",
|
| 247 |
+
"type": "building"
|
| 248 |
+
}
|
| 249 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_18-32-21_1280631491/pose.jsonl
ADDED
|
@@ -0,0 +1,340 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-680.3618706605901,
|
| 6 |
+
-315.9666680624226,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.6179938779915037
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-682.9599468719434,
|
| 19 |
+
-314.4666680624226,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.6179938779915037
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-685.5580230832968,
|
| 32 |
+
-312.9666680624226,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-688.1560992946502,
|
| 45 |
+
-311.4666680624226,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-690.7541755060035,
|
| 58 |
+
-309.9666680624226,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-693.3522517173569,
|
| 71 |
+
-308.4666680624226,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-695.9503279287103,
|
| 84 |
+
-306.9666680624226,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-698.5484041400637,
|
| 97 |
+
-305.4666680624226,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-701.146480351417,
|
| 110 |
+
-303.9666680624226,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-703.7445565627704,
|
| 123 |
+
-302.4666680624226,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.6179938779915037
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-706.3426327741238,
|
| 136 |
+
-300.9666680624226,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.6179938779915037
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-708.9407089854772,
|
| 149 |
+
-299.4666680624226,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.6179938779915037
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-711.5387851968305,
|
| 162 |
+
-297.9666680624226,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.6179938779915037
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-714.1368614081839,
|
| 175 |
+
-296.4666680624226,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.6179938779915037
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-716.7349376195373,
|
| 188 |
+
-294.9666680624226,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.6179938779915037
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-719.3330138308906,
|
| 201 |
+
-293.4666680624226,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.6179938779915037
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-721.931090042244,
|
| 214 |
+
-291.9666680624226,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 2.6179938779915037
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-724.5291662535974,
|
| 227 |
+
-290.4666680624226,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "turn left",
|
| 231 |
+
"value": 30,
|
| 232 |
+
"yaw": 2.6179938779915037
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-724.5291662535974,
|
| 240 |
+
-290.4666680624226,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 3.1415926535898024
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-727.5291662535974,
|
| 253 |
+
-290.4666680624226,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 3.141592653589793
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-730.5291662535974,
|
| 266 |
+
-290.4666680624226,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 3.141592653589793
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-733.5291662535974,
|
| 279 |
+
-290.4666680624226,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 3.141592653589793
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-736.5291662535974,
|
| 292 |
+
-290.4666680624226,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "turn right",
|
| 296 |
+
"value": 30,
|
| 297 |
+
"yaw": 3.141592653589793
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-736.5291662535974,
|
| 305 |
+
-290.4666680624226,
|
| 306 |
+
87.81275808263148
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 2.6179938779914944
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-739.1272424649508,
|
| 318 |
+
-288.9666680624226,
|
| 319 |
+
87.81275808263148
|
| 320 |
+
],
|
| 321 |
+
"type": "stop",
|
| 322 |
+
"value": 0,
|
| 323 |
+
"yaw": 2.6179938779914944
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"aim_landmark": {
|
| 328 |
+
"color": "test",
|
| 329 |
+
"feature": "test",
|
| 330 |
+
"position": [
|
| 331 |
+
-760.0,
|
| 332 |
+
-280.0,
|
| 333 |
+
80.3059
|
| 334 |
+
],
|
| 335 |
+
"shape": "test",
|
| 336 |
+
"dir": "center",
|
| 337 |
+
"size": "test",
|
| 338 |
+
"type": "building"
|
| 339 |
+
}
|
| 340 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_18-4-32_1450956042/pose.jsonl
ADDED
|
@@ -0,0 +1,340 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-903.367908310246,
|
| 6 |
+
-459.26427148287945,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-903.367908310246,
|
| 19 |
+
-462.26427148287945,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-903.367908310246,
|
| 32 |
+
-465.26427148287945,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-903.367908310246,
|
| 45 |
+
-468.26427148287945,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-903.367908310246,
|
| 58 |
+
-471.26427148287945,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-903.367908310246,
|
| 71 |
+
-474.26427148287945,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-903.367908310246,
|
| 84 |
+
-477.26427148287945,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-903.367908310246,
|
| 97 |
+
-480.26427148287945,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-903.367908310246,
|
| 110 |
+
-483.26427148287945,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-903.367908310246,
|
| 123 |
+
-486.26427148287945,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-903.367908310246,
|
| 136 |
+
-489.26427148287945,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-903.367908310246,
|
| 149 |
+
-492.26427148287945,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-903.367908310246,
|
| 162 |
+
-495.26427148287945,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-903.367908310246,
|
| 175 |
+
-498.26427148287945,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-903.367908310246,
|
| 188 |
+
-501.26427148287945,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-903.367908310246,
|
| 201 |
+
-504.26427148287945,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.5707963267948966
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-903.367908310246,
|
| 214 |
+
-507.26427148287945,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.5707963267948966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-903.367908310246,
|
| 227 |
+
-510.26427148287945,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -1.5707963267948966
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-903.367908310246,
|
| 240 |
+
-513.2642714828794,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-903.367908310246,
|
| 253 |
+
-516.2642714828794,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -1.5707963267948966
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-903.367908310246,
|
| 266 |
+
-519.2642714828794,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "turn right",
|
| 270 |
+
"value": 30,
|
| 271 |
+
"yaw": -1.5707963267948966
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-903.367908310246,
|
| 279 |
+
-519.2642714828794,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -2.0943951023931953
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-904.867908310246,
|
| 292 |
+
-521.8623476942328,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -2.094395102393186
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-906.367908310246,
|
| 305 |
+
-524.4604239055861,
|
| 306 |
+
87.81275808263148
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -2.094395102393186
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-907.867908310246,
|
| 318 |
+
-527.0585001169395,
|
| 319 |
+
87.81275808263148
|
| 320 |
+
],
|
| 321 |
+
"type": "stop",
|
| 322 |
+
"value": 0,
|
| 323 |
+
"yaw": -2.094395102393186
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"aim_landmark": {
|
| 328 |
+
"color": "test",
|
| 329 |
+
"feature": "test",
|
| 330 |
+
"position": [
|
| 331 |
+
-908.0,
|
| 332 |
+
-544.0,
|
| 333 |
+
115.729
|
| 334 |
+
],
|
| 335 |
+
"shape": "test",
|
| 336 |
+
"dir": "left",
|
| 337 |
+
"size": "test",
|
| 338 |
+
"type": "building"
|
| 339 |
+
}
|
| 340 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_18-49-34_1646478179/pose.jsonl
ADDED
|
@@ -0,0 +1,392 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-990.3082587729654,
|
| 6 |
+
-582.1129879905693,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-987.3082587729654,
|
| 19 |
+
-582.1129879905693,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-984.3082587729654,
|
| 32 |
+
-582.1129879905693,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-981.3082587729654,
|
| 45 |
+
-582.1129879905693,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-978.3082587729654,
|
| 58 |
+
-582.1129879905693,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-975.3082587729654,
|
| 71 |
+
-582.1129879905693,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-972.3082587729654,
|
| 84 |
+
-582.1129879905693,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "turn left",
|
| 88 |
+
"value": 30,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-972.3082587729654,
|
| 97 |
+
-582.1129879905693,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "turn left",
|
| 101 |
+
"value": 30,
|
| 102 |
+
"yaw": 0.5235987755982988
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-972.3082587729654,
|
| 110 |
+
-582.1129879905693,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511965976
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-970.8082587729654,
|
| 123 |
+
-579.5149117792159,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511966072
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-969.3082587729654,
|
| 136 |
+
-576.9168355678626,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "turn right",
|
| 140 |
+
"value": 30,
|
| 141 |
+
"yaw": 1.0471975511966072
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-969.3082587729654,
|
| 149 |
+
-576.9168355678626,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.5235987755983084
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-966.7101825616121,
|
| 162 |
+
-575.4168355678626,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.5235987755983084
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-964.1121063502587,
|
| 175 |
+
-573.9168355678626,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-961.5140301389054,
|
| 188 |
+
-572.4168355678626,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-958.915953927552,
|
| 201 |
+
-570.9168355678626,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.5235987755982894
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-956.3178777161986,
|
| 214 |
+
-569.4168355678626,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-953.7198015048452,
|
| 227 |
+
-567.9168355678626,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.5235987755982894
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-951.1217252934919,
|
| 240 |
+
-566.4168355678626,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-948.5236490821385,
|
| 253 |
+
-564.9168355678626,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 0.5235987755982894
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-945.9255728707851,
|
| 266 |
+
-563.4168355678626,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 0.5235987755982894
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-943.3274966594317,
|
| 279 |
+
-561.9168355678626,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 0.5235987755982894
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-940.7294204480784,
|
| 292 |
+
-560.4168355678626,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 0.5235987755982894
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-938.131344236725,
|
| 305 |
+
-558.9168355678626,
|
| 306 |
+
87.81275808263148
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 0.5235987755982894
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-935.5332680253716,
|
| 318 |
+
-557.4168355678626,
|
| 319 |
+
87.81275808263148
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 0.5235987755982894
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-932.9351918140183,
|
| 331 |
+
-555.9168355678626,
|
| 332 |
+
87.81275808263148
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 0.5235987755982894
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-930.3371156026649,
|
| 344 |
+
-554.4168355678626,
|
| 345 |
+
87.81275808263148
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 0.5235987755982894
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-927.7390393913115,
|
| 357 |
+
-552.9168355678626,
|
| 358 |
+
87.81275808263148
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": 0.5235987755982894
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-925.1409631799581,
|
| 370 |
+
-551.4168355678626,
|
| 371 |
+
87.81275808263148
|
| 372 |
+
],
|
| 373 |
+
"type": "stop",
|
| 374 |
+
"value": 0,
|
| 375 |
+
"yaw": 0.5235987755982894
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"aim_landmark": {
|
| 380 |
+
"color": "test",
|
| 381 |
+
"feature": "test",
|
| 382 |
+
"position": [
|
| 383 |
+
-908.0,
|
| 384 |
+
-544.0,
|
| 385 |
+
115.729
|
| 386 |
+
],
|
| 387 |
+
"shape": "test",
|
| 388 |
+
"dir": "center",
|
| 389 |
+
"size": "test",
|
| 390 |
+
"type": "building"
|
| 391 |
+
}
|
| 392 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_18-57-8_483689685/pose.jsonl
ADDED
|
@@ -0,0 +1,145 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-952.2037304956043,
|
| 6 |
+
-61.28253326346581,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-949.2037304956043,
|
| 19 |
+
-61.28253326346581,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-946.2037304956043,
|
| 32 |
+
-61.28253326346581,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-943.2037304956043,
|
| 45 |
+
-61.28253326346581,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-940.2037304956043,
|
| 58 |
+
-61.28253326346581,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "turn right",
|
| 62 |
+
"value": 30,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-940.2037304956043,
|
| 71 |
+
-61.28253326346581,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -0.5235987755982988
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-937.6056542842509,
|
| 84 |
+
-62.78253326346581,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -0.5235987755982894
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-935.0075780728976,
|
| 97 |
+
-64.28253326346581,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -0.5235987755982894
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-932.4095018615442,
|
| 110 |
+
-65.78253326346581,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -0.5235987755982894
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-929.8114256501908,
|
| 123 |
+
-67.28253326346581,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "stop",
|
| 127 |
+
"value": 0,
|
| 128 |
+
"yaw": -0.5235987755982894
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"aim_landmark": {
|
| 133 |
+
"color": "test",
|
| 134 |
+
"feature": "test",
|
| 135 |
+
"position": [
|
| 136 |
+
-888.0,
|
| 137 |
+
-80.0,
|
| 138 |
+
120.431
|
| 139 |
+
],
|
| 140 |
+
"shape": "test",
|
| 141 |
+
"dir": "center",
|
| 142 |
+
"size": "test",
|
| 143 |
+
"type": "building"
|
| 144 |
+
}
|
| 145 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_18-58-53_1122336503/pose.jsonl
ADDED
|
@@ -0,0 +1,119 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-934.5090770099271,
|
| 6 |
+
-121.88590669840941,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-931.5090770099271,
|
| 19 |
+
-121.88590669840941,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-928.5090770099271,
|
| 32 |
+
-121.88590669840941,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "turn left",
|
| 36 |
+
"value": 30,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-928.5090770099271,
|
| 45 |
+
-121.88590669840941,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "turn left",
|
| 49 |
+
"value": 30,
|
| 50 |
+
"yaw": 0.5235987755982988
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-928.5090770099271,
|
| 58 |
+
-121.88590669840941,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511965976
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-927.0090770099271,
|
| 71 |
+
-119.2878304870561,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-925.5090770099271,
|
| 84 |
+
-116.68975427570278,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-924.0090770099271,
|
| 97 |
+
-114.09167806434947,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "stop",
|
| 101 |
+
"value": 0,
|
| 102 |
+
"yaw": 1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"aim_landmark": {
|
| 107 |
+
"color": "test",
|
| 108 |
+
"feature": "test",
|
| 109 |
+
"position": [
|
| 110 |
+
-888.0,
|
| 111 |
+
-80.0,
|
| 112 |
+
120.431
|
| 113 |
+
],
|
| 114 |
+
"shape": "test",
|
| 115 |
+
"dir": "center",
|
| 116 |
+
"size": "test",
|
| 117 |
+
"type": "building"
|
| 118 |
+
}
|
| 119 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_19-14-37_590335821/pose.jsonl
ADDED
|
@@ -0,0 +1,119 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
54.65880213864585,
|
| 6 |
+
-142.01599150198075,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
53.15880213864585,
|
| 19 |
+
-139.41791529062743,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
51.65880213864585,
|
| 32 |
+
-136.81983907927412,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
50.15880213864585,
|
| 45 |
+
-134.2217628679208,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "turn right",
|
| 49 |
+
"value": 30,
|
| 50 |
+
"yaw": 2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
50.15880213864585,
|
| 58 |
+
-134.2217628679208,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
50.15880213864585,
|
| 71 |
+
-131.2217628679208,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
50.15880213864585,
|
| 84 |
+
-128.2217628679208,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
50.15880213864585,
|
| 97 |
+
-125.2217628679208,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "stop",
|
| 101 |
+
"value": 0,
|
| 102 |
+
"yaw": 1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"aim_landmark": {
|
| 107 |
+
"color": "test",
|
| 108 |
+
"feature": "test",
|
| 109 |
+
"position": [
|
| 110 |
+
36.0,
|
| 111 |
+
-84.0,
|
| 112 |
+
79.2117
|
| 113 |
+
],
|
| 114 |
+
"shape": "test",
|
| 115 |
+
"dir": "center",
|
| 116 |
+
"size": "test",
|
| 117 |
+
"type": "building"
|
| 118 |
+
}
|
| 119 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_19-25-14_180785147/pose.jsonl
ADDED
|
@@ -0,0 +1,392 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-817.2495805853588,
|
| 6 |
+
10.594464520330916,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-818.7495805853588,
|
| 19 |
+
7.9963883089776004,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-820.2495805853588,
|
| 32 |
+
5.398312097624284,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-821.7495805853588,
|
| 45 |
+
2.8002358862709684,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-823.2495805853588,
|
| 58 |
+
0.2021596749176524,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-824.7495805853588,
|
| 71 |
+
-2.3959165364356636,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-826.2495805853588,
|
| 84 |
+
-4.99399274778898,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-827.7495805853588,
|
| 97 |
+
-7.592068959142296,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-829.2495805853588,
|
| 110 |
+
-10.190145170495612,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-830.7495805853588,
|
| 123 |
+
-12.788221381848928,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-832.2495805853588,
|
| 136 |
+
-15.386297593202244,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-833.7495805853588,
|
| 149 |
+
-17.98437380455556,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-835.2495805853588,
|
| 162 |
+
-20.582450015908876,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-836.7495805853588,
|
| 175 |
+
-23.18052622726219,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-838.2495805853588,
|
| 188 |
+
-25.778602438615508,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-839.7495805853588,
|
| 201 |
+
-28.376678649968824,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-841.2495805853588,
|
| 214 |
+
-30.97475486132214,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.0943951023931953
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-842.7495805853588,
|
| 227 |
+
-33.572831072675456,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.0943951023931953
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-844.2495805853588,
|
| 240 |
+
-36.17090728402877,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.0943951023931953
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-845.7495805853588,
|
| 253 |
+
-38.76898349538209,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.0943951023931953
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-847.2495805853588,
|
| 266 |
+
-41.367059706735404,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "turn left",
|
| 270 |
+
"value": 30,
|
| 271 |
+
"yaw": -2.0943951023931953
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-847.2495805853588,
|
| 279 |
+
-41.367059706735404,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -1.5707963267948966
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-847.2495805853588,
|
| 292 |
+
-44.367059706735404,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -1.5707963267948966
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-847.2495805853588,
|
| 305 |
+
-47.367059706735404,
|
| 306 |
+
87.81275808263148
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -1.5707963267948966
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-847.2495805853588,
|
| 318 |
+
-50.367059706735404,
|
| 319 |
+
87.81275808263148
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -1.5707963267948966
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-847.2495805853588,
|
| 331 |
+
-53.367059706735404,
|
| 332 |
+
87.81275808263148
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -1.5707963267948966
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-847.2495805853588,
|
| 344 |
+
-56.367059706735404,
|
| 345 |
+
87.81275808263148
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -1.5707963267948966
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-847.2495805853588,
|
| 357 |
+
-59.367059706735404,
|
| 358 |
+
87.81275808263148
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -1.5707963267948966
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-847.2495805853588,
|
| 370 |
+
-62.367059706735404,
|
| 371 |
+
87.81275808263148
|
| 372 |
+
],
|
| 373 |
+
"type": "stop",
|
| 374 |
+
"value": 0,
|
| 375 |
+
"yaw": -1.5707963267948966
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"aim_landmark": {
|
| 380 |
+
"color": "test",
|
| 381 |
+
"feature": "test",
|
| 382 |
+
"position": [
|
| 383 |
+
-856.0,
|
| 384 |
+
-80.0,
|
| 385 |
+
80.3059
|
| 386 |
+
],
|
| 387 |
+
"shape": "test",
|
| 388 |
+
"dir": "center",
|
| 389 |
+
"size": "test",
|
| 390 |
+
"type": "building"
|
| 391 |
+
}
|
| 392 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_19-38-0_617909211/pose.jsonl
ADDED
|
@@ -0,0 +1,288 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
185.9027106469704,
|
| 6 |
+
-98.52081783794272,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.0943951023931953
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
184.4027106469704,
|
| 19 |
+
-101.11889404929603,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.0943951023931953
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
182.9027106469704,
|
| 32 |
+
-103.71697026064935,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.0943951023931953
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
181.4027106469704,
|
| 45 |
+
-106.31504647200266,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.0943951023931953
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
179.9027106469704,
|
| 58 |
+
-108.91312268335598,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.0943951023931953
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
178.4027106469704,
|
| 71 |
+
-111.5111988947093,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.0943951023931953
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
176.9027106469704,
|
| 84 |
+
-114.10927510606261,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.0943951023931953
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
175.4027106469704,
|
| 97 |
+
-116.70735131741593,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.0943951023931953
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
173.9027106469704,
|
| 110 |
+
-119.30542752876924,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.0943951023931953
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
172.4027106469704,
|
| 123 |
+
-121.90350374012256,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.0943951023931953
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
170.9027106469704,
|
| 136 |
+
-124.50157995147588,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
169.4027106469704,
|
| 149 |
+
-127.09965616282919,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
167.9027106469704,
|
| 162 |
+
-129.69773237418252,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.094395102393193
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
166.4027106469704,
|
| 175 |
+
-132.29580858553584,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
164.9027106469704,
|
| 188 |
+
-134.89388479688915,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "turn right",
|
| 192 |
+
"value": 30,
|
| 193 |
+
"yaw": -2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
164.9027106469704,
|
| 201 |
+
-134.89388479688915,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.617993877991494
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
162.3046344356171,
|
| 214 |
+
-136.39388479688915,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.6179938779914944
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
159.70655822426377,
|
| 227 |
+
-137.89388479688915,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.6179938779914944
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
157.10848201291046,
|
| 240 |
+
-139.39388479688915,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.6179938779914944
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
154.51040580155714,
|
| 253 |
+
-140.89388479688915,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.6179938779914944
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
151.91232959020383,
|
| 266 |
+
-142.39388479688915,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "stop",
|
| 270 |
+
"value": 0,
|
| 271 |
+
"yaw": -2.6179938779914944
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"aim_landmark": {
|
| 276 |
+
"color": "test",
|
| 277 |
+
"feature": "test",
|
| 278 |
+
"position": [
|
| 279 |
+
132.0,
|
| 280 |
+
-164.0,
|
| 281 |
+
75.7737
|
| 282 |
+
],
|
| 283 |
+
"shape": "test",
|
| 284 |
+
"dir": "center",
|
| 285 |
+
"size": "test",
|
| 286 |
+
"type": "building"
|
| 287 |
+
}
|
| 288 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_19-38-28_2033669086/pose.jsonl
ADDED
|
@@ -0,0 +1,184 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-817.9659427669565,
|
| 6 |
+
-315.79986871358966,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.5235987755982894
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-815.3678665556031,
|
| 19 |
+
-314.29986871358966,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.5235987755982894
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-812.7697903442497,
|
| 32 |
+
-312.79986871358966,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.5235987755982894
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-810.1717141328963,
|
| 45 |
+
-311.29986871358966,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.5235987755982894
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-807.573637921543,
|
| 58 |
+
-309.79986871358966,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.5235987755982894
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-804.9755617101896,
|
| 71 |
+
-308.29986871358966,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.5235987755982894
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-802.3774854988362,
|
| 84 |
+
-306.79986871358966,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.5235987755982894
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-799.7794092874828,
|
| 97 |
+
-305.29986871358966,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.5235987755982894
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-797.1813330761295,
|
| 110 |
+
-303.79986871358966,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.5235987755982894
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-794.5832568647761,
|
| 123 |
+
-302.29986871358966,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.5235987755982894
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-791.9851806534227,
|
| 136 |
+
-300.79986871358966,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-789.3871044420694,
|
| 149 |
+
-299.29986871358966,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-786.789028230716,
|
| 162 |
+
-297.79986871358966,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "stop",
|
| 166 |
+
"value": 0,
|
| 167 |
+
"yaw": 0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"aim_landmark": {
|
| 172 |
+
"color": "test",
|
| 173 |
+
"feature": "test",
|
| 174 |
+
"position": [
|
| 175 |
+
-760.0,
|
| 176 |
+
-280.0,
|
| 177 |
+
80.3059
|
| 178 |
+
],
|
| 179 |
+
"shape": "test",
|
| 180 |
+
"dir": "center",
|
| 181 |
+
"size": "test",
|
| 182 |
+
"type": "building"
|
| 183 |
+
}
|
| 184 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_19-4-5_157272379/pose.jsonl
ADDED
|
@@ -0,0 +1,119 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1043.6948479415446,
|
| 6 |
+
-63.533058943525766,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.0471975511965965
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-1042.1948479415446,
|
| 19 |
+
-66.13113515487908,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.0471975511965965
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-1040.6948479415446,
|
| 32 |
+
-68.72921136623239,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-1039.1948479415446,
|
| 45 |
+
-71.32728757758571,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "turn left",
|
| 49 |
+
"value": 30,
|
| 50 |
+
"yaw": -1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-1039.1948479415446,
|
| 58 |
+
-71.32728757758571,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -0.523598775598299
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-1036.5967717301912,
|
| 71 |
+
-72.82728757758571,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -0.5235987755982894
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-1033.9986955188378,
|
| 84 |
+
-74.32728757758571,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -0.5235987755982894
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-1031.4006193074845,
|
| 97 |
+
-75.82728757758571,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "stop",
|
| 101 |
+
"value": 0,
|
| 102 |
+
"yaw": -0.5235987755982894
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"aim_landmark": {
|
| 107 |
+
"color": "test",
|
| 108 |
+
"feature": "test",
|
| 109 |
+
"position": [
|
| 110 |
+
-996.0,
|
| 111 |
+
-108.0,
|
| 112 |
+
73.4265
|
| 113 |
+
],
|
| 114 |
+
"shape": "test",
|
| 115 |
+
"dir": "center",
|
| 116 |
+
"size": "test",
|
| 117 |
+
"type": "building"
|
| 118 |
+
}
|
| 119 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_19-49-18_1449228398/pose.jsonl
ADDED
|
@@ -0,0 +1,314 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
215.54478336862599,
|
| 6 |
+
-182.22828752973282,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 3.141592653589793
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
212.54478336862599,
|
| 19 |
+
-182.22828752973282,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 3.141592653589793
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
209.54478336862599,
|
| 32 |
+
-182.22828752973282,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 3.141592653589793
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
206.54478336862599,
|
| 45 |
+
-182.22828752973282,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 3.141592653589793
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
203.54478336862599,
|
| 58 |
+
-182.22828752973282,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 3.141592653589793
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
200.54478336862599,
|
| 71 |
+
-182.22828752973282,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 3.141592653589793
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
197.54478336862599,
|
| 84 |
+
-182.22828752973282,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 3.141592653589793
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
194.54478336862599,
|
| 97 |
+
-182.22828752973282,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 3.141592653589793
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
191.54478336862599,
|
| 110 |
+
-182.22828752973282,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 3.141592653589793
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
188.54478336862599,
|
| 123 |
+
-182.22828752973282,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 3.141592653589793
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
185.54478336862599,
|
| 136 |
+
-182.22828752973282,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 3.141592653589793
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
182.54478336862599,
|
| 149 |
+
-182.22828752973282,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "turn right",
|
| 153 |
+
"value": 30,
|
| 154 |
+
"yaw": 3.141592653589793
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
182.54478336862599,
|
| 162 |
+
-182.22828752973282,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.6179938779914944
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
179.94670715727267,
|
| 175 |
+
-180.72828752973282,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.6179938779914944
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
177.34863094591935,
|
| 188 |
+
-179.22828752973282,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.6179938779914944
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
174.75055473456604,
|
| 201 |
+
-177.72828752973282,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.6179938779914944
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
172.15247852321272,
|
| 214 |
+
-176.22828752973282,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 2.6179938779914944
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
169.5544023118594,
|
| 227 |
+
-174.72828752973282,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 2.6179938779914944
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
166.9563261005061,
|
| 240 |
+
-173.22828752973282,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 2.6179938779914944
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
164.35824988915277,
|
| 253 |
+
-171.72828752973282,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 2.6179938779914944
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
161.76017367779946,
|
| 266 |
+
-170.22828752973282,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 2.6179938779914944
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
159.16209746644614,
|
| 279 |
+
-168.72828752973282,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 2.6179938779914944
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
156.56402125509283,
|
| 292 |
+
-167.22828752973282,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "stop",
|
| 296 |
+
"value": 0,
|
| 297 |
+
"yaw": 2.6179938779914944
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"aim_landmark": {
|
| 302 |
+
"color": "test",
|
| 303 |
+
"feature": "test",
|
| 304 |
+
"position": [
|
| 305 |
+
132.0,
|
| 306 |
+
-164.0,
|
| 307 |
+
75.7737
|
| 308 |
+
],
|
| 309 |
+
"shape": "test",
|
| 310 |
+
"dir": "center",
|
| 311 |
+
"size": "test",
|
| 312 |
+
"type": "building"
|
| 313 |
+
}
|
| 314 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_19-55-19_242588954/pose.jsonl
ADDED
|
@@ -0,0 +1,288 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-949.2109299039108,
|
| 6 |
+
-590.9171432639582,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.094395102393186
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-950.7109299039108,
|
| 19 |
+
-588.3190670526049,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.094395102393186
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-952.2109299039108,
|
| 32 |
+
-585.7209908412515,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.094395102393186
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-953.7109299039108,
|
| 45 |
+
-583.1229146298981,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.094395102393186
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-955.2109299039108,
|
| 58 |
+
-580.5248384185447,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.094395102393186
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-956.7109299039108,
|
| 71 |
+
-577.9267622071914,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.094395102393186
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-958.2109299039108,
|
| 84 |
+
-575.328685995838,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.094395102393186
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-959.7109299039108,
|
| 97 |
+
-572.7306097844846,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.094395102393186
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-961.2109299039108,
|
| 110 |
+
-570.1325335731312,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.094395102393186
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-962.7109299039108,
|
| 123 |
+
-567.5344573617779,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.094395102393186
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-964.2109299039108,
|
| 136 |
+
-564.9363811504245,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.094395102393186
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-965.7109299039108,
|
| 149 |
+
-562.3383049390711,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.094395102393186
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-967.2109299039108,
|
| 162 |
+
-559.7402287277177,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.094395102393186
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-968.7109299039108,
|
| 175 |
+
-557.1421525163644,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.094395102393186
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-970.2109299039108,
|
| 188 |
+
-554.544076305011,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.094395102393186
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-971.7109299039108,
|
| 201 |
+
-551.9460000936576,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.094395102393186
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-973.2109299039108,
|
| 214 |
+
-549.3479238823043,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 2.094395102393186
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-974.7109299039108,
|
| 227 |
+
-546.7498476709509,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "turn left",
|
| 231 |
+
"value": 30,
|
| 232 |
+
"yaw": 2.094395102393186
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-974.7109299039108,
|
| 240 |
+
-546.7498476709509,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 2.6179938779914846
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-977.3090061152641,
|
| 253 |
+
-545.2498476709509,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 2.617993877991485
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-979.9070823266175,
|
| 266 |
+
-543.7498476709509,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "stop",
|
| 270 |
+
"value": 0,
|
| 271 |
+
"yaw": 2.617993877991485
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"aim_landmark": {
|
| 276 |
+
"color": "test",
|
| 277 |
+
"feature": "test",
|
| 278 |
+
"position": [
|
| 279 |
+
-996.0,
|
| 280 |
+
-520.0,
|
| 281 |
+
75.5737
|
| 282 |
+
],
|
| 283 |
+
"shape": "test",
|
| 284 |
+
"dir": "center",
|
| 285 |
+
"size": "test",
|
| 286 |
+
"type": "building"
|
| 287 |
+
}
|
| 288 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_19-58-54_695466127/pose.jsonl
ADDED
|
@@ -0,0 +1,158 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1012.832646862529,
|
| 6 |
+
-193.05704568089556,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-1012.832646862529,
|
| 19 |
+
-190.05704568089556,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-1012.832646862529,
|
| 32 |
+
-187.05704568089556,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-1012.832646862529,
|
| 45 |
+
-184.05704568089556,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-1012.832646862529,
|
| 58 |
+
-181.05704568089556,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-1012.832646862529,
|
| 71 |
+
-178.05704568089556,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-1012.832646862529,
|
| 84 |
+
-175.05704568089556,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-1012.832646862529,
|
| 97 |
+
-172.05704568089556,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "turn right",
|
| 101 |
+
"value": 30,
|
| 102 |
+
"yaw": 1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-1012.832646862529,
|
| 110 |
+
-172.05704568089556,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-1011.332646862529,
|
| 123 |
+
-169.45896946954224,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-1009.832646862529,
|
| 136 |
+
-166.86089325818892,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "stop",
|
| 140 |
+
"value": 0,
|
| 141 |
+
"yaw": 1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"aim_landmark": {
|
| 146 |
+
"color": "test",
|
| 147 |
+
"feature": "test",
|
| 148 |
+
"position": [
|
| 149 |
+
-996.0,
|
| 150 |
+
-108.0,
|
| 151 |
+
73.4265
|
| 152 |
+
],
|
| 153 |
+
"shape": "test",
|
| 154 |
+
"dir": "center",
|
| 155 |
+
"size": "test",
|
| 156 |
+
"type": "building"
|
| 157 |
+
}
|
| 158 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_19-6-20_772970072/pose.jsonl
ADDED
|
@@ -0,0 +1,210 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-964.2588235861616,
|
| 6 |
+
-505.35089572800587,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -0.5235987755983084
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-961.6607473748084,
|
| 19 |
+
-506.85089572800587,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -0.5235987755983084
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-959.062671163455,
|
| 32 |
+
-508.35089572800587,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -0.5235987755982894
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-956.4645949521016,
|
| 45 |
+
-509.85089572800587,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -0.5235987755982894
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-953.8665187407482,
|
| 58 |
+
-511.35089572800587,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -0.5235987755982894
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-951.2684425293949,
|
| 71 |
+
-512.8508957280059,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -0.5235987755982894
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-948.6703663180415,
|
| 84 |
+
-514.3508957280059,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -0.5235987755982894
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-946.0722901066881,
|
| 97 |
+
-515.8508957280059,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -0.5235987755982894
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-943.4742138953347,
|
| 110 |
+
-517.3508957280059,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -0.5235987755982894
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-940.8761376839814,
|
| 123 |
+
-518.8508957280059,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -0.5235987755982894
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-938.278061472628,
|
| 136 |
+
-520.3508957280059,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-935.6799852612746,
|
| 149 |
+
-521.8508957280059,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "turn right",
|
| 153 |
+
"value": 30,
|
| 154 |
+
"yaw": -0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-935.6799852612746,
|
| 162 |
+
-521.8508957280059,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.047197551196588
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-934.1799852612746,
|
| 175 |
+
-524.4489719393591,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.0471975511965883
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-932.6799852612746,
|
| 188 |
+
-527.0470481507125,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "stop",
|
| 192 |
+
"value": 0,
|
| 193 |
+
"yaw": -1.0471975511965883
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"aim_landmark": {
|
| 198 |
+
"color": "test",
|
| 199 |
+
"feature": "test",
|
| 200 |
+
"position": [
|
| 201 |
+
-908.0,
|
| 202 |
+
-544.0,
|
| 203 |
+
115.729
|
| 204 |
+
],
|
| 205 |
+
"shape": "test",
|
| 206 |
+
"dir": "center",
|
| 207 |
+
"size": "test",
|
| 208 |
+
"type": "building"
|
| 209 |
+
}
|
| 210 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_20-0-26_1162088421/pose.jsonl
ADDED
|
@@ -0,0 +1,249 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-693.8341678077758,
|
| 6 |
+
-274.47516250384274,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 3.141592653589793
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-696.8341678077758,
|
| 19 |
+
-274.47516250384274,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 3.141592653589793
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-699.8341678077758,
|
| 32 |
+
-274.47516250384274,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 3.141592653589793
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-702.8341678077758,
|
| 45 |
+
-274.47516250384274,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 3.141592653589793
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-705.8341678077758,
|
| 58 |
+
-274.47516250384274,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 3.141592653589793
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-708.8341678077758,
|
| 71 |
+
-274.47516250384274,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 3.141592653589793
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-711.8341678077758,
|
| 84 |
+
-274.47516250384274,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 3.141592653589793
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-714.8341678077758,
|
| 97 |
+
-274.47516250384274,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 3.141592653589793
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-717.8341678077758,
|
| 110 |
+
-274.47516250384274,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 3.141592653589793
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-720.8341678077758,
|
| 123 |
+
-274.47516250384274,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 3.141592653589793
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-723.8341678077758,
|
| 136 |
+
-274.47516250384274,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 3.141592653589793
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-726.8341678077758,
|
| 149 |
+
-274.47516250384274,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 3.141592653589793
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-729.8341678077758,
|
| 162 |
+
-274.47516250384274,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 3.141592653589793
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-732.8341678077758,
|
| 175 |
+
-274.47516250384274,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 3.141592653589793
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-735.8341678077758,
|
| 188 |
+
-274.47516250384274,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "turn left",
|
| 192 |
+
"value": 30,
|
| 193 |
+
"yaw": 3.141592653589793
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-735.8341678077758,
|
| 201 |
+
-274.47516250384274,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 3.665191429188092
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-738.432244019129,
|
| 214 |
+
-275.97516250384274,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.617993877991485
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-741.0303202304824,
|
| 227 |
+
-277.47516250384274,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "stop",
|
| 231 |
+
"value": 0,
|
| 232 |
+
"yaw": -2.617993877991485
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"aim_landmark": {
|
| 237 |
+
"color": "test",
|
| 238 |
+
"feature": "test",
|
| 239 |
+
"position": [
|
| 240 |
+
-760.0,
|
| 241 |
+
-280.0,
|
| 242 |
+
80.3059
|
| 243 |
+
],
|
| 244 |
+
"shape": "test",
|
| 245 |
+
"dir": "center",
|
| 246 |
+
"size": "test",
|
| 247 |
+
"type": "building"
|
| 248 |
+
}
|
| 249 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_20-13-45_878273679/pose.jsonl
ADDED
|
@@ -0,0 +1,132 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-843.9624020630738,
|
| 6 |
+
-595.8200412901141,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.6179938779915037
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-846.5604782744272,
|
| 19 |
+
-594.3200412901141,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.6179938779915037
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-849.1585544857805,
|
| 32 |
+
-592.8200412901141,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-851.7566306971339,
|
| 45 |
+
-591.3200412901141,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-854.3547069084873,
|
| 58 |
+
-589.8200412901141,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "turn right",
|
| 62 |
+
"value": 30,
|
| 63 |
+
"yaw": 2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-854.3547069084873,
|
| 71 |
+
-589.8200412901141,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.094395102393205
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-855.8547069084873,
|
| 84 |
+
-587.2219650787608,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.094395102393205
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-857.3547069084873,
|
| 97 |
+
-584.6238888674075,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.094395102393186
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-858.8547069084873,
|
| 110 |
+
-582.0258126560541,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "stop",
|
| 114 |
+
"value": 0,
|
| 115 |
+
"yaw": 2.094395102393186
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"aim_landmark": {
|
| 120 |
+
"color": "test",
|
| 121 |
+
"feature": "test",
|
| 122 |
+
"position": [
|
| 123 |
+
-908.0,
|
| 124 |
+
-544.0,
|
| 125 |
+
115.729
|
| 126 |
+
],
|
| 127 |
+
"shape": "test",
|
| 128 |
+
"dir": "center",
|
| 129 |
+
"size": "test",
|
| 130 |
+
"type": "building"
|
| 131 |
+
}
|
| 132 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_20-32-53_1348361729/pose.jsonl
ADDED
|
@@ -0,0 +1,223 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-939.199853081921,
|
| 6 |
+
-56.892852754043474,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.6179938779915037
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-941.7979292932744,
|
| 19 |
+
-58.392852754043474,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.6179938779915037
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-944.3960055046277,
|
| 32 |
+
-59.892852754043474,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-946.9940817159811,
|
| 45 |
+
-61.392852754043474,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-949.5921579273345,
|
| 58 |
+
-62.892852754043474,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-952.1902341386879,
|
| 71 |
+
-64.39285275404347,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-954.7883103500412,
|
| 84 |
+
-65.89285275404347,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-957.3863865613946,
|
| 97 |
+
-67.39285275404347,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-959.984462772748,
|
| 110 |
+
-68.89285275404347,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "turn left",
|
| 114 |
+
"value": 30,
|
| 115 |
+
"yaw": -2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-959.984462772748,
|
| 123 |
+
-68.89285275404347,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.094395102393205
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-961.484462772748,
|
| 136 |
+
-71.49092896539679,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.0943951023931953
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-962.984462772748,
|
| 149 |
+
-74.0890051767501,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.0943951023931953
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-964.484462772748,
|
| 162 |
+
-76.68708138810342,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-965.984462772748,
|
| 175 |
+
-79.28515759945674,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.0943951023931953
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-967.484462772748,
|
| 188 |
+
-81.88323381081005,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.0943951023931953
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-968.984462772748,
|
| 201 |
+
-84.48131002216337,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "stop",
|
| 205 |
+
"value": 0,
|
| 206 |
+
"yaw": -2.0943951023931953
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"aim_landmark": {
|
| 211 |
+
"color": "test",
|
| 212 |
+
"feature": "test",
|
| 213 |
+
"position": [
|
| 214 |
+
-996.0,
|
| 215 |
+
-108.0,
|
| 216 |
+
73.4265
|
| 217 |
+
],
|
| 218 |
+
"shape": "test",
|
| 219 |
+
"dir": "center",
|
| 220 |
+
"size": "test",
|
| 221 |
+
"type": "building"
|
| 222 |
+
}
|
| 223 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_20-53-58_1698487330/pose.jsonl
ADDED
|
@@ -0,0 +1,197 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1104.7724871085431,
|
| 6 |
+
-370.7979955568414,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.5235987755982894
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-1102.1744108971898,
|
| 19 |
+
-369.2979955568414,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.5235987755982894
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-1099.5763346858364,
|
| 32 |
+
-367.7979955568414,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.5235987755982894
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-1096.978258474483,
|
| 45 |
+
-366.2979955568414,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.5235987755982894
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-1094.3801822631297,
|
| 58 |
+
-364.7979955568414,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.5235987755982894
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-1091.7821060517763,
|
| 71 |
+
-363.2979955568414,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.5235987755982894
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-1089.184029840423,
|
| 84 |
+
-361.7979955568414,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.5235987755982894
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-1086.5859536290695,
|
| 97 |
+
-360.2979955568414,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.5235987755982894
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-1083.9878774177162,
|
| 110 |
+
-358.7979955568414,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.5235987755982894
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-1081.3898012063628,
|
| 123 |
+
-357.2979955568414,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.5235987755982894
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-1078.7917249950094,
|
| 136 |
+
-355.7979955568414,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-1076.193648783656,
|
| 149 |
+
-354.2979955568414,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-1073.5955725723027,
|
| 162 |
+
-352.7979955568414,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-1070.9974963609493,
|
| 175 |
+
-351.2979955568414,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "stop",
|
| 179 |
+
"value": 0,
|
| 180 |
+
"yaw": 0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"aim_landmark": {
|
| 185 |
+
"color": "test",
|
| 186 |
+
"feature": "test",
|
| 187 |
+
"position": [
|
| 188 |
+
-1048.0,
|
| 189 |
+
-340.0,
|
| 190 |
+
75.7737
|
| 191 |
+
],
|
| 192 |
+
"shape": "test",
|
| 193 |
+
"dir": "center",
|
| 194 |
+
"size": "test",
|
| 195 |
+
"type": "building"
|
| 196 |
+
}
|
| 197 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_20-54-27_359147515/pose.jsonl
ADDED
|
@@ -0,0 +1,327 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-985.6914291008741,
|
| 6 |
+
-308.01140161489155,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-982.6914291008741,
|
| 19 |
+
-308.01140161489155,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-979.6914291008741,
|
| 32 |
+
-308.01140161489155,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-976.6914291008741,
|
| 45 |
+
-308.01140161489155,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-973.6914291008741,
|
| 58 |
+
-308.01140161489155,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-970.6914291008741,
|
| 71 |
+
-308.01140161489155,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.0
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-967.6914291008741,
|
| 84 |
+
-308.01140161489155,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.0
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-964.6914291008741,
|
| 97 |
+
-308.01140161489155,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.0
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-961.6914291008741,
|
| 110 |
+
-308.01140161489155,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "turn left",
|
| 114 |
+
"value": 30,
|
| 115 |
+
"yaw": 0.0
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-961.6914291008741,
|
| 123 |
+
-308.01140161489155,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.5235987755982988
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-959.0933528895207,
|
| 136 |
+
-306.51140161489155,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-956.4952766781673,
|
| 149 |
+
-305.01140161489155,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-953.897200466814,
|
| 162 |
+
-303.51140161489155,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-951.2991242554606,
|
| 175 |
+
-302.01140161489155,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-948.7010480441072,
|
| 188 |
+
-300.51140161489155,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-946.1029718327538,
|
| 201 |
+
-299.01140161489155,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.5235987755982894
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-943.5048956214005,
|
| 214 |
+
-297.51140161489155,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-940.9068194100471,
|
| 227 |
+
-296.01140161489155,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.5235987755982894
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-938.3087431986937,
|
| 240 |
+
-294.51140161489155,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-935.7106669873403,
|
| 253 |
+
-293.01140161489155,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 0.5235987755982894
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-933.112590775987,
|
| 266 |
+
-291.51140161489155,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 0.5235987755982894
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-930.5145145646336,
|
| 279 |
+
-290.01140161489155,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 0.5235987755982894
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-927.9164383532802,
|
| 292 |
+
-288.51140161489155,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 0.5235987755982894
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-925.3183621419269,
|
| 305 |
+
-287.01140161489155,
|
| 306 |
+
87.81275808263148
|
| 307 |
+
],
|
| 308 |
+
"type": "stop",
|
| 309 |
+
"value": 0,
|
| 310 |
+
"yaw": 0.5235987755982894
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"aim_landmark": {
|
| 315 |
+
"color": "test",
|
| 316 |
+
"feature": "test",
|
| 317 |
+
"position": [
|
| 318 |
+
-900.0,
|
| 319 |
+
-280.0,
|
| 320 |
+
120.431
|
| 321 |
+
],
|
| 322 |
+
"shape": "test",
|
| 323 |
+
"dir": "center",
|
| 324 |
+
"size": "test",
|
| 325 |
+
"type": "building"
|
| 326 |
+
}
|
| 327 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_20-54-43_1666231349/pose.jsonl
ADDED
|
@@ -0,0 +1,106 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-933.433894632899,
|
| 6 |
+
-224.19082035715496,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-931.933894632899,
|
| 19 |
+
-226.78889656850828,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-930.433894632899,
|
| 32 |
+
-229.3869727798616,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-928.933894632899,
|
| 45 |
+
-231.9850489912149,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-927.433894632899,
|
| 58 |
+
-234.58312520256823,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-925.933894632899,
|
| 71 |
+
-237.18120141392154,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-924.433894632899,
|
| 84 |
+
-239.77927762527486,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "stop",
|
| 88 |
+
"value": 0,
|
| 89 |
+
"yaw": -1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"aim_landmark": {
|
| 94 |
+
"color": "test",
|
| 95 |
+
"feature": "test",
|
| 96 |
+
"position": [
|
| 97 |
+
-900.0,
|
| 98 |
+
-280.0,
|
| 99 |
+
120.431
|
| 100 |
+
],
|
| 101 |
+
"shape": "test",
|
| 102 |
+
"dir": "center",
|
| 103 |
+
"size": "test",
|
| 104 |
+
"type": "building"
|
| 105 |
+
}
|
| 106 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_20-57-36_1692786742/pose.jsonl
ADDED
|
@@ -0,0 +1,262 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1077.706598155265,
|
| 6 |
+
-588.8892260743103,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511966072
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-1076.206598155265,
|
| 19 |
+
-586.2911498629569,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511966072
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-1074.706598155265,
|
| 32 |
+
-583.6930736516035,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511966072
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-1073.206598155265,
|
| 45 |
+
-581.0949974402502,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.0471975511966072
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-1071.706598155265,
|
| 58 |
+
-578.4969212288968,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511966072
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-1070.206598155265,
|
| 71 |
+
-575.8988450175434,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511966072
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-1068.706598155265,
|
| 84 |
+
-573.30076880619,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511966072
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-1067.206598155265,
|
| 97 |
+
-570.7026925948367,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511966072
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-1065.706598155265,
|
| 110 |
+
-568.1046163834833,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511966072
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-1064.206598155265,
|
| 123 |
+
-565.5065401721299,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511966072
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-1062.706598155265,
|
| 136 |
+
-562.9084639607765,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511966072
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-1061.206598155265,
|
| 149 |
+
-560.3103877494232,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.0471975511966072
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-1059.706598155265,
|
| 162 |
+
-557.7123115380698,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.0471975511966072
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-1058.206598155265,
|
| 175 |
+
-555.1142353267164,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.0471975511966072
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-1056.706598155265,
|
| 188 |
+
-552.516159115363,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "turn left",
|
| 192 |
+
"value": 30,
|
| 193 |
+
"yaw": 1.0471975511966072
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-1056.706598155265,
|
| 201 |
+
-552.516159115363,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.5707963267949059
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-1056.706598155265,
|
| 214 |
+
-549.516159115363,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.5707963267948966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-1056.706598155265,
|
| 227 |
+
-546.516159115363,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.5707963267948966
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-1056.706598155265,
|
| 240 |
+
-543.516159115363,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "stop",
|
| 244 |
+
"value": 0,
|
| 245 |
+
"yaw": 1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"aim_landmark": {
|
| 250 |
+
"color": "test",
|
| 251 |
+
"feature": "test",
|
| 252 |
+
"position": [
|
| 253 |
+
-1048.0,
|
| 254 |
+
-528.0,
|
| 255 |
+
115.738
|
| 256 |
+
],
|
| 257 |
+
"shape": "test",
|
| 258 |
+
"dir": "right",
|
| 259 |
+
"size": "test",
|
| 260 |
+
"type": "building"
|
| 261 |
+
}
|
| 262 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_20-6-3_942724790/pose.jsonl
ADDED
|
@@ -0,0 +1,353 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-880.8545643390443,
|
| 6 |
+
5.9441727370399775,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-880.8545643390443,
|
| 19 |
+
2.9441727370399775,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-880.8545643390443,
|
| 32 |
+
-0.055827262960022495,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-880.8545643390443,
|
| 45 |
+
-3.0558272629600225,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-880.8545643390443,
|
| 58 |
+
-6.0558272629600225,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-880.8545643390443,
|
| 71 |
+
-9.055827262960022,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-880.8545643390443,
|
| 84 |
+
-12.055827262960022,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-880.8545643390443,
|
| 97 |
+
-15.055827262960022,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-880.8545643390443,
|
| 110 |
+
-18.055827262960022,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-880.8545643390443,
|
| 123 |
+
-21.055827262960022,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-880.8545643390443,
|
| 136 |
+
-24.055827262960022,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-880.8545643390443,
|
| 149 |
+
-27.055827262960022,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-880.8545643390443,
|
| 162 |
+
-30.055827262960022,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-880.8545643390443,
|
| 175 |
+
-33.05582726296002,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-880.8545643390443,
|
| 188 |
+
-36.05582726296002,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-880.8545643390443,
|
| 201 |
+
-39.05582726296002,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.5707963267948966
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-880.8545643390443,
|
| 214 |
+
-42.05582726296002,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.5707963267948966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-880.8545643390443,
|
| 227 |
+
-45.05582726296002,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -1.5707963267948966
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-880.8545643390443,
|
| 240 |
+
-48.05582726296002,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-880.8545643390443,
|
| 253 |
+
-51.05582726296002,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -1.5707963267948966
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-880.8545643390443,
|
| 266 |
+
-54.05582726296002,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "turn right",
|
| 270 |
+
"value": 30,
|
| 271 |
+
"yaw": -1.5707963267948966
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-880.8545643390443,
|
| 279 |
+
-54.05582726296002,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -2.0943951023931953
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-882.3545643390443,
|
| 292 |
+
-56.65390347431334,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -2.0943951023931953
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-883.8545643390443,
|
| 305 |
+
-59.251979685666655,
|
| 306 |
+
87.81275808263148
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -2.0943951023931953
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-885.3545643390443,
|
| 318 |
+
-61.85005589701997,
|
| 319 |
+
87.81275808263148
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -2.0943951023931953
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-886.8545643390443,
|
| 331 |
+
-64.44813210837329,
|
| 332 |
+
87.81275808263148
|
| 333 |
+
],
|
| 334 |
+
"type": "stop",
|
| 335 |
+
"value": 0,
|
| 336 |
+
"yaw": -2.0943951023931953
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"aim_landmark": {
|
| 341 |
+
"color": "test",
|
| 342 |
+
"feature": "test",
|
| 343 |
+
"position": [
|
| 344 |
+
-888.0,
|
| 345 |
+
-80.0,
|
| 346 |
+
120.431
|
| 347 |
+
],
|
| 348 |
+
"shape": "test",
|
| 349 |
+
"dir": "center",
|
| 350 |
+
"size": "test",
|
| 351 |
+
"type": "building"
|
| 352 |
+
}
|
| 353 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_21-13-21_1756098480/pose.jsonl
ADDED
|
@@ -0,0 +1,223 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-989.9106787423099,
|
| 6 |
+
-584.6187316408457,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-989.9106787423099,
|
| 19 |
+
-581.6187316408457,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-989.9106787423099,
|
| 32 |
+
-578.6187316408457,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-989.9106787423099,
|
| 45 |
+
-575.6187316408457,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-989.9106787423099,
|
| 58 |
+
-572.6187316408457,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-989.9106787423099,
|
| 71 |
+
-569.6187316408457,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-989.9106787423099,
|
| 84 |
+
-566.6187316408457,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-989.9106787423099,
|
| 97 |
+
-563.6187316408457,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-989.9106787423099,
|
| 110 |
+
-560.6187316408457,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-989.9106787423099,
|
| 123 |
+
-557.6187316408457,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-989.9106787423099,
|
| 136 |
+
-554.6187316408457,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-989.9106787423099,
|
| 149 |
+
-551.6187316408457,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "turn left",
|
| 153 |
+
"value": 30,
|
| 154 |
+
"yaw": 1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-989.9106787423099,
|
| 162 |
+
-551.6187316408457,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.0943951023931953
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-991.4106787423099,
|
| 175 |
+
-549.0206554294923,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.094395102393186
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-992.9106787423099,
|
| 188 |
+
-546.4225792181389,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.094395102393186
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-994.4106787423099,
|
| 201 |
+
-543.8245030067856,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "stop",
|
| 205 |
+
"value": 0,
|
| 206 |
+
"yaw": 2.094395102393186
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"aim_landmark": {
|
| 211 |
+
"color": "test",
|
| 212 |
+
"feature": "test",
|
| 213 |
+
"position": [
|
| 214 |
+
-996.0,
|
| 215 |
+
-520.0,
|
| 216 |
+
75.5737
|
| 217 |
+
],
|
| 218 |
+
"shape": "test",
|
| 219 |
+
"dir": "center",
|
| 220 |
+
"size": "test",
|
| 221 |
+
"type": "building"
|
| 222 |
+
}
|
| 223 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_21-17-3_1907712995/pose.jsonl
ADDED
|
@@ -0,0 +1,262 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1055.5128751675818,
|
| 6 |
+
-497.43050465160997,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-1052.5128751675818,
|
| 19 |
+
-497.43050465160997,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-1049.5128751675818,
|
| 32 |
+
-497.43050465160997,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-1046.5128751675818,
|
| 45 |
+
-497.43050465160997,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-1043.5128751675818,
|
| 58 |
+
-497.43050465160997,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "turn right",
|
| 62 |
+
"value": 30,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-1043.5128751675818,
|
| 71 |
+
-497.43050465160997,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -0.5235987755982988
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-1040.9147989562284,
|
| 84 |
+
-498.93050465160997,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -0.5235987755982894
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-1038.316722744875,
|
| 97 |
+
-500.43050465160997,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -0.5235987755982894
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-1035.7186465335217,
|
| 110 |
+
-501.93050465160997,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -0.5235987755982894
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-1033.1205703221683,
|
| 123 |
+
-503.43050465160997,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -0.5235987755982894
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-1030.522494110815,
|
| 136 |
+
-504.93050465160997,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-1027.9244178994616,
|
| 149 |
+
-506.43050465160997,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-1025.3263416881082,
|
| 162 |
+
-507.93050465160997,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-1022.7282654767548,
|
| 175 |
+
-509.43050465160997,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-1020.1301892654014,
|
| 188 |
+
-510.93050465160997,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-1017.5321130540481,
|
| 201 |
+
-512.4305046516099,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -0.523598775598273
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-1014.9340368426947,
|
| 214 |
+
-513.9305046516099,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-1012.3359606313413,
|
| 227 |
+
-515.4305046516099,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -0.5235987755982894
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-1009.737884419988,
|
| 240 |
+
-516.9305046516099,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "stop",
|
| 244 |
+
"value": 0,
|
| 245 |
+
"yaw": -0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"aim_landmark": {
|
| 250 |
+
"color": "test",
|
| 251 |
+
"feature": "test",
|
| 252 |
+
"position": [
|
| 253 |
+
-996.0,
|
| 254 |
+
-520.0,
|
| 255 |
+
75.5737
|
| 256 |
+
],
|
| 257 |
+
"shape": "test",
|
| 258 |
+
"dir": "center",
|
| 259 |
+
"size": "test",
|
| 260 |
+
"type": "building"
|
| 261 |
+
}
|
| 262 |
+
}
|
Image/env_airsim_16/astar_data/high_short/2025-1-9_21-23-43_1155465115/pose.jsonl
ADDED
|
@@ -0,0 +1,314 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-715.8537207090285,
|
| 6 |
+
-326.10723858540445,
|
| 7 |
+
87.81275808263148
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.6179938779915037
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-718.4517969203819,
|
| 19 |
+
-327.60723858540445,
|
| 20 |
+
87.81275808263148
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.6179938779915037
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-721.0498731317352,
|
| 32 |
+
-329.10723858540445,
|
| 33 |
+
87.81275808263148
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-723.6479493430886,
|
| 45 |
+
-330.60723858540445,
|
| 46 |
+
87.81275808263148
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-726.246025554442,
|
| 58 |
+
-332.10723858540445,
|
| 59 |
+
87.81275808263148
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-728.8441017657954,
|
| 71 |
+
-333.60723858540445,
|
| 72 |
+
87.81275808263148
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-731.4421779771487,
|
| 84 |
+
-335.10723858540445,
|
| 85 |
+
87.81275808263148
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-734.0402541885021,
|
| 97 |
+
-336.60723858540445,
|
| 98 |
+
87.81275808263148
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-736.6383303998555,
|
| 110 |
+
-338.10723858540445,
|
| 111 |
+
87.81275808263148
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-739.2364066112088,
|
| 123 |
+
-339.60723858540445,
|
| 124 |
+
87.81275808263148
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.6179938779915037
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-741.8344828225622,
|
| 136 |
+
-341.10723858540445,
|
| 137 |
+
87.81275808263148
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.6179938779915037
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-744.4325590339156,
|
| 149 |
+
-342.60723858540445,
|
| 150 |
+
87.81275808263148
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.6179938779915037
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-747.030635245269,
|
| 162 |
+
-344.10723858540445,
|
| 163 |
+
87.81275808263148
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.6179938779915037
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-749.6287114566223,
|
| 175 |
+
-345.60723858540445,
|
| 176 |
+
87.81275808263148
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.6179938779915037
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-752.2267876679757,
|
| 188 |
+
-347.10723858540445,
|
| 189 |
+
87.81275808263148
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.6179938779915037
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-754.8248638793291,
|
| 201 |
+
-348.60723858540445,
|
| 202 |
+
87.81275808263148
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.6179938779915037
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-757.4229400906825,
|
| 214 |
+
-350.10723858540445,
|
| 215 |
+
87.81275808263148
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.6179938779915037
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-760.0210163020358,
|
| 227 |
+
-351.60723858540445,
|
| 228 |
+
87.81275808263148
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.6179938779915037
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-762.6190925133892,
|
| 240 |
+
-353.10723858540445,
|
| 241 |
+
87.81275808263148
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.6179938779915037
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-765.2171687247426,
|
| 253 |
+
-354.60723858540445,
|
| 254 |
+
87.81275808263148
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.6179938779915037
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-767.815244936096,
|
| 266 |
+
-356.10723858540445,
|
| 267 |
+
87.81275808263148
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -2.6179938779915037
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-770.4133211474493,
|
| 279 |
+
-357.60723858540445,
|
| 280 |
+
87.81275808263148
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -2.6179938779915037
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-773.0113973588027,
|
| 292 |
+
-359.10723858540445,
|
| 293 |
+
87.81275808263148
|
| 294 |
+
],
|
| 295 |
+
"type": "stop",
|
| 296 |
+
"value": 0,
|
| 297 |
+
"yaw": -2.6179938779915037
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"aim_landmark": {
|
| 302 |
+
"color": "test",
|
| 303 |
+
"feature": "test",
|
| 304 |
+
"position": [
|
| 305 |
+
-796.0,
|
| 306 |
+
-372.0,
|
| 307 |
+
91.3502
|
| 308 |
+
],
|
| 309 |
+
"shape": "test",
|
| 310 |
+
"dir": "center",
|
| 311 |
+
"size": "test",
|
| 312 |
+
"type": "building"
|
| 313 |
+
}
|
| 314 |
+
}
|