diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-13_14-25-58_1036140795/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-13_14-25-58_1036140795/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d5f6cf7bf5661b1fbe8ed556614e0544b45ae343 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-13_14-25-58_1036140795/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 117.8627293236534, + -203.50138136584837, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 117.8627293236534, + -200.50138136584837, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 117.8627293236534, + -197.50138136584837, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 117.8627293236534, + -194.50138136584837, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 117.8627293236534, + -191.50138136584837, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 117.8627293236534, + -188.50138136584837, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 117.8627293236534, + -185.50138136584837, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 117.8627293236534, + -182.50138136584837, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 117.8627293236534, + -179.50138136584837, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 117.8627293236534, + -176.50138136584837, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 117.8627293236534, + -173.50138136584837, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 117.8627293236534, + -170.50138136584837, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 117.8627293236534, + -167.50138136584837, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 117.8627293236534, + -164.50138136584837, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 117.8627293236534, + -161.50138136584837, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 117.8627293236534, + -158.50138136584837, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 117.8627293236534, + -155.50138136584837, + -22.56830964200554 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 117.8627293236534, + -155.50138136584837, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 116.3627293236534, + -152.90330515449506, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 114.8627293236534, + -150.30522894314174, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 113.3627293236534, + -147.70715273178843, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 111.8627293236534, + -145.1090765204351, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 110.3627293236534, + -142.5110003090818, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 108.8627293236534, + -139.91292409772848, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 107.3627293236534, + -137.31484788637516, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 102.75733251571656, + -133.33713722229004, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 105.8627293236534, + -134.71677167502185, + -22.56830964200554 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 105.8627293236534, + -134.71677167502185, + -22.56830964200554 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 105.8627293236534, + -134.71677167502185, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 103.26465311230008, + -133.21677167502185, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 100.66657690094677, + -131.71677167502185, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 98.06850068959345, + -130.21677167502185, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 95.47042447824013, + -128.71677167502185, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 92.87234826688682, + -127.21677167502185, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 90.2742720555335, + -125.71677167502185, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 87.67619584418019, + -124.21677167502185, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 85.07811963282687, + -122.71677167502185, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 82.48004342147355, + -121.21677167502185, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 79.88196721012024, + -119.71677167502185, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 77.28389099876692, + -118.21677167502185, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 74.6858147874136, + -116.71677167502185, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 72.08773857606029, + -115.21677167502185, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 69.48966236470697, + -113.71677167502185, + -22.56830964200554 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 69.48966236470697, + -113.71677167502185, + -22.56830964200554 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 66.48966236470697, + -113.71677167502185, + -22.56830964200554 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 62.60805644989014, + -113.03417053222657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-13_14-3-21_2038664370/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-13_14-3-21_2038664370/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4328d905a8f87d4465fa1ef07f5b13488db31688 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-13_14-3-21_2038664370/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -55.62982311630909, + 130.39115992958796, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -57.12982311630909, + 132.98923614094127, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -58.62982311630909, + 135.5873123522946, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -60.12982311630909, + 138.1853885636479, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -61.62982311630909, + 140.78346477500122, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -63.12982311630909, + 143.38154098635454, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -64.62982311630908, + 145.97961719770785, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931935 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -66.12982311630908, + 148.57769340906117, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -67.62982311630908, + 151.17576962041448, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -69.12982311630908, + 153.7738458317678, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -70.62982311630908, + 156.37192204312112, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -72.12982311630908, + 158.96999825447443, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -73.62982311630908, + 161.56807446582775, + -21.057986740008936 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -73.62982311630908, + 161.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -73.62982311630908, + 164.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -73.62982311630908, + 167.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -73.62982311630908, + 170.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -73.62982311630908, + 173.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -73.62982311630908, + 176.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -73.62982311630908, + 179.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -73.62982311630908, + 182.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -73.62982311630908, + 185.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -75.5195812702179, + 191.94742860794068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -73.62982311630908, + 188.56807446582775, + -21.057986740008936 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -73.62982311630908, + 188.56807446582775, + -21.057986740008936 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -73.62982311630908, + 188.56807446582775, + -21.057986740008936 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -73.62982311630908, + 188.56807446582775, + -21.057986740008936 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -73.62982311630908, + 188.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -70.62982311630908, + 188.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -67.62982311630908, + 188.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -64.62982311630908, + 188.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -61.62982311630908, + 188.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -58.62982311630908, + 188.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -55.62982311630908, + 188.56807446582775, + -21.057986740008936 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -55.62982311630908, + 188.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -53.03174690495577, + 190.06807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -50.43367069360245, + 191.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -47.835594482249135, + 193.06807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -45.23751827089582, + 194.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -42.6394420595425, + 196.06807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -40.04136584818919, + 197.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -37.44328963683587, + 199.06807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -34.845213425482555, + 200.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -32.24713721412924, + 202.06807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -29.649061002775923, + 203.56807446582775, + -21.057986740008936 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -27.050984791422607, + 205.06807446582775, + -21.057986740008936 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -24.924080467224123, + 204.11226043701174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-13_15-11-37_1597322404/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-13_15-11-37_1597322404/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a51048acd47c6902daedd5f6645652a5c048b33f --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-13_15-11-37_1597322404/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 56.433834445130415, + -83.26974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 53.8357582337771, + -81.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 51.23768202242378, + -80.26974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 48.63960581107047, + -78.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 46.04152959971715, + -77.26974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 43.443453388363835, + -75.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 40.84537717701052, + -74.26974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 38.2473009656572, + -72.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 35.64922475430389, + -71.26974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 33.05114854295057, + -69.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 30.453072331597255, + -68.26974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 27.85499612024394, + -66.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 25.256919908890623, + -65.26974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 22.658843697537307, + -63.76974169153287, + -24.103186828137062 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 22.658843697537307, + -63.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 19.658843697537307, + -63.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 16.658843697537307, + -63.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 13.658843697537307, + -63.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 10.658843697537307, + -63.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 7.658843697537307, + -63.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 4.658843697537307, + -63.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1.658843697537307, + -63.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1.341156302462693, + -63.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -4.341156302462693, + -63.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.37222833633423, + -64.11597180366516, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -7.341156302462693, + -63.76974169153287, + -24.103186828137062 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -7.341156302462693, + -63.76974169153287, + -24.103186828137062 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -7.341156302462693, + -63.76974169153287, + -24.103186828137062 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -7.341156302462693, + -63.76974169153287, + -24.103186828137062 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -7.341156302462693, + -63.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -7.341156302462693, + -60.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -7.341156302462693, + -57.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -7.341156302462693, + -54.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -7.341156302462693, + -51.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -7.341156302462693, + -48.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -7.341156302462693, + -45.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -7.341156302462693, + -42.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -7.341156302462693, + -39.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -7.341156302462693, + -36.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -7.341156302462693, + -33.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -7.341156302462693, + -30.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -7.341156302462693, + -27.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -7.341156302462693, + -24.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -7.341156302462693, + -21.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -7.341156302462693, + -18.76974169153287, + -24.103186828137062 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -7.341156302462693, + -18.76974169153287, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -8.841156302462693, + -16.171665480179556, + -24.103186828137062 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -10.341156302462693, + -13.57358926882624, + -24.103186828137062 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -10.27423782348633, + -10.511889123916626, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-13_15-3-59_1476153275/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-13_15-3-59_1476153275/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..261a131c2a7032d1a7d95492fd7bbc62e9ef5d68 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-13_15-3-59_1476153275/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -153.3722509560737, + 154.50054638023363, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -150.3722509560737, + 154.50054638023363, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -147.3722509560737, + 154.50054638023363, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -144.3722509560737, + 154.50054638023363, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -141.3722509560737, + 154.50054638023363, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -138.3722509560737, + 154.50054638023363, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -135.3722509560737, + 154.50054638023363, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -132.3722509560737, + 154.50054638023363, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -129.3722509560737, + 154.50054638023363, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -126.37225095607371, + 154.50054638023363, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -123.37225095607371, + 154.50054638023363, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -120.37225095607371, + 154.50054638023363, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -117.37225095607371, + 154.50054638023363, + -24.641470140501664 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -117.37225095607371, + 154.50054638023363, + -24.641470140501664 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -117.37225095607371, + 154.50054638023363, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -115.87225095607371, + 151.9024701688803, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -114.37225095607371, + 149.304393957527, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -112.87225095607371, + 146.70631774617368, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -111.37225095607371, + 144.10824153482037, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -109.87225095607371, + 141.51016532346705, + -24.641470140501664 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -109.87225095607371, + 141.51016532346705, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -107.2741747447204, + 140.01016532346705, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -104.67609853336708, + 138.51016532346705, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -102.07802232201377, + 137.01016532346705, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -99.47994611066045, + 135.51016532346705, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -96.88186989930713, + 134.01016532346705, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -92.24793577194214, + 130.42960138320925, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -94.28379368795382, + 132.51016532346705, + -24.641470140501664 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -94.28379368795382, + 132.51016532346705, + -24.641470140501664 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -94.28379368795382, + 132.51016532346705, + -24.641470140501664 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -94.28379368795382, + 132.51016532346705, + -24.641470140501664 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -94.28379368795382, + 132.51016532346705, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -92.78379368795382, + 135.10824153482037, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -91.28379368795382, + 137.70631774617368, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -89.78379368795382, + 140.304393957527, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -88.28379368795382, + 142.9024701688803, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -86.78379368795382, + 145.50054638023363, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -85.28379368795382, + 148.09862259158695, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -83.78379368795382, + 150.69669880294026, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -82.28379368795382, + 153.29477501429358, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -80.78379368795382, + 155.8928512256469, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -79.28379368795382, + 158.4909274370002, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -77.78379368795382, + 161.08900364835353, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -76.28379368795382, + 163.68707985970684, + -24.641470140501664 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -76.28379368795382, + 163.68707985970684, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -76.28379368795382, + 166.68707985970684, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -76.28379368795382, + 169.68707985970684, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -76.28379368795382, + 172.68707985970684, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -76.28379368795382, + 175.68707985970684, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -76.28379368795382, + 178.68707985970684, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -76.28379368795382, + 181.68707985970684, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -76.28379368795382, + 184.68707985970684, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -76.28379368795382, + 187.68707985970684, + -24.641470140501664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -76.28379368795382, + 190.68707985970684, + -24.641470140501664 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -75.5195812702179, + 191.94742860794068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-13_15-51-47_1501252996/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-13_15-51-47_1501252996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15ff95ea5a0ca313167e450d87aaf0ee4879f9b6 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-13_15-51-47_1501252996/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -23.8680761225611, + 278.9544787969925, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -26.466152333914415, + 277.4544787969925, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -29.06422854526773, + 275.9544787969925, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -31.662304756621047, + 274.4544787969925, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -34.26038096797436, + 272.9544787969925, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -36.85845717932768, + 271.4544787969925, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -39.456533390680995, + 269.9544787969925, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -42.05460960203431, + 268.4544787969925, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -44.65268581338763, + 266.9544787969925, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -47.25076202474094, + 265.4544787969925, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -49.84883823609426, + 263.9544787969925, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -52.446914447447575, + 262.4544787969925, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -55.04499065880089, + 260.9544787969925, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -57.64306687015421, + 259.4544787969925, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -60.24114308150752, + 257.9544787969925, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -62.83921929286084, + 256.4544787969925, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -68.07784786224366, + 251.98643093109132, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -65.43729550421415, + 254.95447879699248, + -16.83907120556689 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -65.43729550421415, + 254.95447879699248, + -16.83907120556689 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -65.43729550421415, + 254.95447879699248, + -16.83907120556689 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -65.43729550421415, + 254.95447879699248, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -65.43729550421415, + 251.95447879699248, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -65.43729550421415, + 248.95447879699248, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -65.43729550421415, + 245.95447879699248, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -65.43729550421415, + 242.95447879699248, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -65.43729550421415, + 239.95447879699248, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -65.43729550421415, + 236.95447879699248, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -65.43729550421415, + 233.95447879699248, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -65.43729550421415, + 230.95447879699248, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -65.43729550421415, + 227.95447879699248, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -65.43729550421415, + 224.95447879699248, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -65.43729550421415, + 221.95447879699248, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -65.43729550421415, + 218.95447879699248, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -65.43729550421415, + 215.95447879699248, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -65.43729550421415, + 212.95447879699248, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -65.43729550421415, + 209.95447879699248, + -16.83907120556689 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -65.43729550421415, + 209.95447879699248, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -66.93729550421415, + 207.35640258563916, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -68.43729550421415, + 204.75832637428584, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -69.93729550421415, + 202.16025016293253, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -71.43729550421415, + 199.5621739515792, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -72.93729550421415, + 196.9640977402259, + -16.83907120556689 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -74.43729550421415, + 194.36602152887258, + -16.83907120556689 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -75.5195812702179, + 191.94742860794068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_0-14-13_1059961393/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_0-14-13_1059961393/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..12dfad07626c119631f29fd5bff92368a6d1f352 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_0-14-13_1059961393/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 87.85694183971574, + 52.052199980646236, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 89.35694183971574, + 54.65027619199955, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 90.85694183971574, + 57.24835240335287, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 92.35694183971574, + 59.846428614706184, + -21.380524638194032 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 92.35694183971574, + 59.846428614706184, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 94.95501805106906, + 61.346428614706184, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 97.55309426242238, + 62.846428614706184, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 100.1511704737757, + 64.34642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 102.74924668512901, + 65.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 105.34732289648232, + 67.34642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 107.94539910783564, + 68.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 110.54347531918896, + 70.34642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 113.14155153054227, + 71.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 115.73962774189559, + 73.34642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 118.3377039532489, + 74.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 120.93578016460222, + 76.34642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 123.53385637595554, + 77.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 126.13193258730885, + 79.34642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 131.85336561203005, + 81.29258055686951, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 128.73000879866217, + 80.84642861470618, + -21.380524638194032 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 128.73000879866217, + 80.84642861470618, + -21.380524638194032 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 128.73000879866217, + 80.84642861470618, + -21.380524638194032 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 128.73000879866217, + 80.84642861470618, + -21.380524638194032 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 128.73000879866217, + 80.84642861470618, + -21.380524638194032 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 128.73000879866217, + 80.84642861470618, + -21.380524638194032 + ], + "type": "turn left", + "value": 30, + "yaw": 3.1415926535897927 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 128.73000879866217, + 80.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 125.73000879866217, + 80.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 122.73000879866217, + 80.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 119.73000879866217, + 80.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 116.73000879866217, + 80.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 113.73000879866217, + 80.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 110.73000879866217, + 80.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 107.73000879866217, + 80.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 104.73000879866217, + 80.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 101.73000879866217, + 80.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 98.73000879866217, + 80.84642861470618, + -21.380524638194032 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 98.73000879866217, + 80.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 96.13193258730885, + 82.34642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 93.53385637595554, + 83.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 90.93578016460222, + 85.34642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 88.3377039532489, + 86.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 85.73962774189559, + 88.34642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 83.14155153054227, + 89.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 80.54347531918896, + 91.34642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 77.94539910783564, + 92.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 75.34732289648232, + 94.34642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 72.74924668512901, + 95.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 70.1511704737757, + 97.34642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 67.55309426242238, + 98.84642861470618, + -21.380524638194032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 64.95501805106906, + 100.34642861470618, + -21.380524638194032 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 61.79868612289429, + 98.42731351852417, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_0-2-35_1025202362/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_0-2-35_1025202362/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..069314647042a5e5c51db04dc55c4ffdb2e87bc1 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_0-2-35_1025202362/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -208.0687647565687, + 341.287654355738, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -209.5687647565687, + 338.6895781443847, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -211.0687647565687, + 336.0915019330314, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -212.5687647565687, + 333.4934257216781, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -214.0687647565687, + 330.89534951032476, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -215.5687647565687, + 328.29727329897145, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -217.0687647565687, + 325.69919708761813, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -218.5687647565687, + 323.1011208762648, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -220.0687647565687, + 320.5030446649115, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -221.5687647565687, + 317.9049684535582, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -223.0687647565687, + 315.30689224220487, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -224.5687647565687, + 312.70881603085155, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -226.0687647565687, + 310.11073981949824, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -227.5687647565687, + 307.5126636081449, + -20.084315195086525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -227.5687647565687, + 307.5126636081449, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -227.5687647565687, + 304.5126636081449, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -227.5687647565687, + 301.5126636081449, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -227.5687647565687, + 298.5126636081449, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -227.5687647565687, + 295.5126636081449, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -227.5687647565687, + 292.5126636081449, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -227.5687647565687, + 289.5126636081449, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -227.5687647565687, + 286.5126636081449, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -227.5687647565687, + 283.5126636081449, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -227.5687647565687, + 280.5126636081449, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.42313041687012, + 276.43410530090335, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -227.5687647565687, + 277.5126636081449, + -20.084315195086525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -227.5687647565687, + 277.5126636081449, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -226.0687647565687, + 274.9145873967916, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -224.5687647565687, + 272.3165111854383, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -223.0687647565687, + 269.71843497408497, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -221.5687647565687, + 267.12035876273166, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -220.0687647565687, + 264.52228255137834, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -218.5687647565687, + 261.924206340025, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -217.0687647565687, + 259.3261301286717, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -215.5687647565687, + 256.7280539173184, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -214.0687647565687, + 254.12997770596508, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -212.5687647565687, + 251.53190149461176, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -211.0687647565687, + 248.93382528325844, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -209.5687647565687, + 246.33574907190513, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -208.0687647565687, + 243.7376728605518, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -206.5687647565687, + 241.1395966491985, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -205.0687647565687, + 238.54152043784518, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -203.5687647565687, + 235.94344422649186, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -202.0687647565687, + 233.34536801513855, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -200.5687647565687, + 230.74729180378523, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -199.0687647565687, + 228.14921559243191, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -197.5687647565687, + 225.5511393810786, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -196.0687647565687, + 222.95306316972528, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -194.5687647565687, + 220.35498695837197, + -20.084315195086525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -193.0687647565687, + 217.75691074701865, + -20.084315195086525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -192.74566249847413, + 216.19230060577394, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_0-30-45_2001100545/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_0-30-45_2001100545/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77098ff7a28e4b1572f879dce3fe18ab9f7dcf29 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_0-30-45_2001100545/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 203.05928435328053, + 40.842786276088034, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 201.55928435328053, + 38.24471006473472, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 200.05928435328053, + 35.6466338533814, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 198.55928435328053, + 33.048557642028086, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 197.05928435328053, + 30.45048143067477, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 195.55928435328053, + 27.852405219321454, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 194.05928435328053, + 25.25432900796814, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 192.55928435328053, + 22.656252796614822, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 191.05928435328053, + 20.058176585261506, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 189.55928435328053, + 17.46010037390819, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 188.05928435328053, + 14.862024162554874, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 186.55928435328053, + 12.263947951201558, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 185.05928435328053, + 9.665871739848242, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 183.55928435328053, + 7.067795528494926, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 182.05928435328053, + 4.46971931714161, + -20.035893460611756 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 182.05928435328053, + 4.46971931714161, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 182.05928435328053, + 1.4697193171416103, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 182.05928435328053, + -1.5302806828583897, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 182.05928435328053, + -4.53028068285839, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 182.05928435328053, + -7.53028068285839, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 182.05928435328053, + -10.53028068285839, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 182.05928435328053, + -13.53028068285839, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 182.05928435328053, + -16.53028068285839, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 182.05928435328053, + -19.53028068285839, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 182.05928435328053, + -22.53028068285839, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 182.05928435328053, + -25.53028068285839, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 182.05928435328053, + -28.53028068285839, + -20.035893460611756 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 182.05928435328053, + -28.53028068285839, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 179.30008974075318, + -34.89918828010559, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 180.55928435328053, + -31.128356894211706, + -20.035893460611756 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 180.55928435328053, + -31.128356894211706, + -20.035893460611756 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 180.55928435328053, + -31.128356894211706, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 177.96120814192722, + -32.628356894211706, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 175.3631319305739, + -34.128356894211706, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 172.76505571922058, + -35.628356894211706, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 170.16697950786727, + -37.128356894211706, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 167.56890329651395, + -38.628356894211706, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 164.97082708516064, + -40.128356894211706, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 162.37275087380732, + -41.628356894211706, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 159.774674662454, + -43.128356894211706, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 157.1765984511007, + -44.628356894211706, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 154.57852223974737, + -46.128356894211706, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 151.98044602839406, + -47.628356894211706, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 149.38236981704074, + -49.128356894211706, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 146.78429360568742, + -50.628356894211706, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 144.1862173943341, + -52.128356894211706, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 141.5881411829808, + -53.628356894211706, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 138.99006497162748, + -55.128356894211706, + -20.035893460611756 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 138.99006497162748, + -55.128356894211706, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 137.49006497162748, + -57.72643310556502, + -20.035893460611756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 135.99006497162748, + -60.32450931691834, + -20.035893460611756 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 135.41849660873413, + -61.472222375869755, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_0-53-54_1633108117/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_0-53-54_1633108117/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac7fd5e9565cceb34016872281b24935b6fd7940 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_0-53-54_1633108117/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -104.15194061050809, + 492.64388900153017, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -102.65194061050809, + 490.04581279017685, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -101.15194061050809, + 487.44773657882354, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -99.65194061050809, + 484.8496603674702, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -98.15194061050809, + 482.2515841561169, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -96.65194061050809, + 479.6535079447636, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -95.15194061050809, + 477.0554317334103, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -93.65194061050809, + 474.45735552205696, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -92.15194061050809, + 471.85927931070364, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -90.65194061050809, + 469.2612030993503, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -89.15194061050809, + 466.663126887997, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -87.65194061050809, + 464.0650506766437, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -86.15194061050809, + 461.4669744652904, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -84.65194061050809, + 458.86889825393706, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -83.15194061050809, + 456.27082204258375, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -81.65194061050809, + 453.67274583123043, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -80.15194061050809, + 451.0746696198771, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -78.65194061050809, + 448.4765934085238, + -23.728736937471208 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -78.65194061050809, + 448.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -76.05386439915478, + 446.9765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -73.45578818780146, + 445.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -70.85771197644814, + 443.9765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -68.25963576509483, + 442.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -65.66155955374151, + 440.9765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -63.5878408908844, + 436.78047485351567, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -63.063483342388196, + 439.4765934085238, + -23.728736937471208 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -63.063483342388196, + 439.4765934085238, + -23.728736937471208 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -63.063483342388196, + 439.4765934085238, + -23.728736937471208 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -63.063483342388196, + 439.4765934085238, + -23.728736937471208 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -63.063483342388196, + 439.4765934085238, + -23.728736937471208 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -63.063483342388196, + 439.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -65.66155955374151, + 437.9765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -68.25963576509483, + 436.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -70.85771197644814, + 434.9765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -73.45578818780146, + 433.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -76.05386439915478, + 431.9765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -78.65194061050809, + 430.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -81.25001682186141, + 428.9765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -83.84809303321472, + 427.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -86.44616924456804, + 425.9765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -89.04424545592136, + 424.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -91.64232166727467, + 422.9765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -94.24039787862799, + 421.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -96.8384740899813, + 419.9765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -99.43655030133462, + 418.4765934085238, + -23.728736937471208 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -99.43655030133462, + 418.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -102.43655030133462, + 418.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -105.43655030133462, + 418.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -108.43655030133462, + 418.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -111.43655030133462, + 418.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -114.43655030133462, + 418.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -117.43655030133462, + 418.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -120.43655030133462, + 418.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -123.43655030133462, + 418.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -126.43655030133462, + 418.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -129.43655030133462, + 418.4765934085238, + -23.728736937471208 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -132.43655030133462, + 418.4765934085238, + -23.728736937471208 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -135.324280834198, + 416.13291282653813, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-1-39_160051528/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-1-39_160051528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d11decc9a6f5dab54cebd7b4d5579725e0d4ac9 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-1-39_160051528/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -287.56665313727444, + 268.7111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -284.56665313727444, + 268.7111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -281.56665313727444, + 268.7111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -278.56665313727444, + 268.7111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -275.56665313727444, + 268.7111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -272.56665313727444, + 268.7111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -269.56665313727444, + 268.7111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -266.56665313727444, + 268.7111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -263.56665313727444, + 268.7111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -260.56665313727444, + 268.7111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -257.56665313727444, + 268.7111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -254.56665313727444, + 268.7111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -251.56665313727444, + 268.7111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -248.56665313727444, + 268.7111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -245.56665313727444, + 268.7111759591178, + -22.134385303914353 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -245.56665313727444, + 268.7111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -242.96857692592113, + 270.2111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -240.3705007145678, + 271.7111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -237.7724245032145, + 273.2111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -235.17434829186118, + 274.7111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -232.57627208050786, + 276.2111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.42313041687012, + 276.43410530090335, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -229.97819586915455, + 277.7111759591178, + -22.134385303914353 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -229.97819586915455, + 277.7111759591178, + -22.134385303914353 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -229.97819586915455, + 277.7111759591178, + -22.134385303914353 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -229.97819586915455, + 277.7111759591178, + -22.134385303914353 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -229.97819586915455, + 277.7111759591178, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -228.47819586915455, + 275.11309974776447, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -226.97819586915455, + 272.51502353641115, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -225.47819586915455, + 269.91694732505783, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -223.97819586915455, + 267.3188711137045, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -222.47819586915455, + 264.7207949023512, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -220.97819586915455, + 262.1227186909979, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -219.47819586915455, + 259.52464247964457, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -217.97819586915455, + 256.92656626829125, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -216.47819586915455, + 254.32849005693794, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -214.97819586915455, + 251.73041384558462, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -213.47819586915455, + 249.1323376342313, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -211.97819586915455, + 246.534261422878, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -210.47819586915455, + 243.93618521152467, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -208.97819586915455, + 241.33810900017136, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -207.47819586915455, + 238.74003278881804, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -205.97819586915455, + 236.14195657746473, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -204.47819586915455, + 233.5438803661114, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -202.97819586915455, + 230.9458041547581, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -201.47819586915455, + 228.34772794340478, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -199.97819586915455, + 225.74965173205146, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -198.47819586915455, + 223.15157552069815, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -196.97819586915455, + 220.55349930934483, + -22.134385303914353 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -195.47819586915455, + 217.9554230979915, + -22.134385303914353 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -192.74566249847413, + 216.19230060577394, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-18-32_841148365/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-18-32_841148365/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39308e289a559023cc9b284e859078a694428c98 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-18-32_841148365/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -94.75482903344097, + 92.92816732989834, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -96.25482903344097, + 95.52624354125166, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -97.75482903344097, + 98.12431975260498, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -99.25482903344097, + 100.72239596395829, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -100.75482903344097, + 103.32047217531161, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -102.25482903344097, + 105.91854838666492, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -103.75482903344097, + 108.51662459801824, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -105.25482903344097, + 111.11470080937156, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -106.75482903344097, + 113.71277702072487, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -108.25482903344097, + 116.31085323207819, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -109.75482903344097, + 118.9089294434315, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -111.25482903344097, + 121.50700565478482, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -112.75482903344097, + 124.10508186613814, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -114.25482903344097, + 126.70315807749145, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -115.75482903344097, + 129.30123428884477, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -117.25482903344097, + 131.89931050019808, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -118.75482903344097, + 134.4973867115514, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -120.25482903344097, + 137.09546292290472, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -121.75482903344097, + 139.69353913425803, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -123.25482903344097, + 142.29161534561135, + -17.87786521948567 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -123.25482903344097, + 142.29161534561135, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -125.85290524479429, + 143.79161534561135, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.05646734237672, + 147.10406847000124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -128.4509814561476, + 145.29161534561135, + -17.87786521948567 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -128.4509814561476, + 145.29161534561135, + -17.87786521948567 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -128.4509814561476, + 145.29161534561135, + -17.87786521948567 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -128.4509814561476, + 145.29161534561135, + -17.87786521948567 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -128.4509814561476, + 145.29161534561135, + -17.87786521948567 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -128.4509814561476, + 145.29161534561135, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -125.85290524479427, + 146.79161534561135, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -123.25482903344096, + 148.29161534561135, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -120.65675282208764, + 149.79161534561135, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -118.05867661073432, + 151.29161534561135, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -115.46060039938101, + 152.79161534561135, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -112.86252418802769, + 154.29161534561135, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -110.26444797667438, + 155.79161534561135, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -107.66637176532106, + 157.29161534561135, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -105.06829555396774, + 158.79161534561135, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -102.47021934261443, + 160.29161534561135, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -99.87214313126111, + 161.79161534561135, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -97.2740669199078, + 163.29161534561135, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -94.67599070855448, + 164.79161534561135, + -17.87786521948567 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -94.67599070855448, + 164.79161534561135, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -93.17599070855448, + 167.38969155696466, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -91.67599070855448, + 169.98776776831798, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -90.17599070855448, + 172.5858439796713, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -88.67599070855448, + 175.1839201910246, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -87.17599070855448, + 177.78199640237793, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -85.67599070855448, + 180.38007261373124, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -84.17599070855448, + 182.97814882508456, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -82.67599070855448, + 185.57622503643788, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -81.17599070855448, + 188.1743012477912, + -17.87786521948567 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -81.17599070855448, + 188.1743012477912, + -17.87786521948567 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -78.57791449720116, + 189.6743012477912, + -17.87786521948567 + ], + "type": "stop", + "value": 0, + "yaw": 0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -75.5195812702179, + 191.94742860794068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-25-5_1605908235/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-25-5_1605908235/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b7a07f08b2127e76019e427f4a3327ea80067bbe --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-25-5_1605908235/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -361.3015001425716, + 216.52913302982185, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -362.8015001425716, + 219.12720924117517, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -364.3015001425716, + 221.72528545252848, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -365.8015001425716, + 224.3233616638818, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -367.3015001425716, + 226.9214378752351, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -368.8015001425716, + 229.51951408658843, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -370.3015001425716, + 232.11759029794175, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -371.8015001425716, + 234.71566650929506, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -373.3015001425716, + 237.31374272064838, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -374.8015001425716, + 239.9118189320017, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -376.3015001425716, + 242.509895143355, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -377.8015001425716, + 245.10797135470833, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -379.3015001425716, + 247.70604756606164, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -380.8015001425716, + 250.30412377741496, + -15.89295983683138 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -380.8015001425716, + 250.30412377741496, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -380.8015001425716, + 253.30412377741496, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -380.8015001425716, + 256.30412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -382.8172357559204, + 262.51546230316166, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -380.8015001425716, + 259.30412377741493, + -15.89295983683138 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -380.8015001425716, + 259.30412377741493, + -15.89295983683138 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -380.8015001425716, + 259.30412377741493, + -15.89295983683138 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -380.8015001425716, + 259.30412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -378.2034239312183, + 260.80412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -375.605347719865, + 262.30412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -373.0072715085117, + 263.80412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -370.40919529715836, + 265.30412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -367.81111908580505, + 266.80412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -365.21304287445173, + 268.30412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -362.6149666630984, + 269.80412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -360.0168904517451, + 271.30412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -357.4188142403918, + 272.80412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -354.82073802903847, + 274.30412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -352.22266181768515, + 275.80412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -349.62458560633183, + 277.30412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -347.0265093949785, + 278.80412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -344.4284331836252, + 280.30412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -341.8303569722719, + 281.80412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -339.23228076091857, + 283.30412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -336.63420454956525, + 284.80412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -334.03612833821194, + 286.30412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -331.4380521268586, + 287.80412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -328.8399759155053, + 289.30412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -326.241899704152, + 290.80412377741493, + -15.89295983683138 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -326.241899704152, + 290.80412377741493, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -324.741899704152, + 293.40219998876825, + -15.89295983683138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -323.241899704152, + 296.00027620012156, + -15.89295983683138 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -321.15925178527834, + 299.0595897674561, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-3-28_378409503/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-3-28_378409503/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e919b557ad378454efe3b41e6793feacdb8a0c3b --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-3-28_378409503/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -76.42281760296254, + 300.8356061248658, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -76.42281760296254, + 297.8356061248658, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -76.42281760296254, + 294.8356061248658, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -76.42281760296254, + 291.8356061248658, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -76.42281760296254, + 288.8356061248658, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -76.42281760296254, + 285.8356061248658, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -76.42281760296254, + 282.8356061248658, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -76.42281760296254, + 279.8356061248658, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -76.42281760296254, + 276.8356061248658, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -76.42281760296254, + 273.8356061248658, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -76.42281760296254, + 270.8356061248658, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -76.42281760296254, + 267.8356061248658, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -76.42281760296254, + 264.8356061248658, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -76.42281760296254, + 261.8356061248658, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -76.42281760296254, + 258.8356061248658, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -76.42281760296254, + 255.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -76.42281760296254, + 252.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -76.42281760296254, + 249.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -76.42281760296254, + 246.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -76.42281760296254, + 243.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -76.42281760296254, + 240.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -76.42281760296254, + 237.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -76.42281760296254, + 234.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -76.42281760296254, + 231.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -76.42281760296254, + 228.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -78.11547446250916, + 225.18597507476807, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -76.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -76.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -76.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -76.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -76.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -73.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -70.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -67.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -64.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -61.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -58.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -55.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -52.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -49.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -46.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -43.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -40.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -37.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -34.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -31.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -28.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -25.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -22.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -22.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -22.42281760296254, + 225.83560612486582, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -20.92281760296254, + 228.43368233621914, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -19.42281760296254, + 231.03175854757245, + -21.55507693370034 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -19.42281760296254, + 231.03175854757245, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -16.824741391609223, + 232.53175854757245, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -14.226665180255907, + 234.03175854757245, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -11.62858896890259, + 235.53175854757245, + -21.55507693370034 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -9.030512757549275, + 237.03175854757245, + -21.55507693370034 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.054965496063232, + 237.79356269836427, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-4-22_1713258270/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-4-22_1713258270/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..78e8ca9272f2de192a8c28cbce25420921f424cb --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-4-22_1713258270/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -437.4338054823229, + 218.3565169293959, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -434.8357292709696, + 219.8565169293959, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -432.23765305961626, + 221.3565169293959, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -429.63957684826295, + 222.8565169293959, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -427.04150063690963, + 224.3565169293959, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -424.4434244255563, + 225.8565169293959, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -421.845348214203, + 227.3565169293959, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -419.2472720028497, + 228.8565169293959, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -416.64919579149637, + 230.3565169293959, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -414.05111958014305, + 231.8565169293959, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -411.45304336878974, + 233.3565169293959, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -408.8549671574364, + 234.8565169293959, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -406.2568909460831, + 236.3565169293959, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -403.6588147347298, + 237.8565169293959, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -401.0607385233765, + 239.3565169293959, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -398.46266231202316, + 240.8565169293959, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -395.86458610066984, + 242.3565169293959, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -393.2665098893165, + 243.8565169293959, + -18.938682215816534 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -393.2665098893165, + 243.8565169293959, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -391.7665098893165, + 246.4545931407492, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -390.2665098893165, + 249.05266935210253, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -388.7665098893165, + 251.65074556345584, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -387.2665098893165, + 254.24882177480916, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -385.7665098893165, + 256.8468979861625, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966025 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -384.2665098893165, + 259.4449741975158, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -382.3751014709473, + 263.42621479034426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -382.7665098893165, + 262.04305040886914, + -18.938682215816534 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -382.7665098893165, + 262.04305040886914, + -18.938682215816534 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -382.7665098893165, + 262.04305040886914, + -18.938682215816534 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -382.7665098893165, + 262.04305040886914, + -18.938682215816534 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -382.7665098893165, + 262.04305040886914, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -385.36458610066984, + 263.54305040886914, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -387.96266231202316, + 265.04305040886914, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -390.5607385233765, + 266.54305040886914, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -393.1588147347298, + 268.04305040886914, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -395.7568909460831, + 269.54305040886914, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -398.3549671574364, + 271.04305040886914, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -400.95304336878974, + 272.54305040886914, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -403.55111958014305, + 274.04305040886914, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -406.14919579149637, + 275.54305040886914, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -408.7472720028497, + 277.04305040886914, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -411.345348214203, + 278.54305040886914, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -413.9434244255563, + 280.04305040886914, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -416.54150063690963, + 281.54305040886914, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -419.13957684826295, + 283.04305040886914, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -421.73765305961626, + 284.54305040886914, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -424.3357292709696, + 286.04305040886914, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -426.9338054823229, + 287.54305040886914, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -429.5318816936762, + 289.04305040886914, + -18.938682215816534 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -429.5318816936762, + 289.04305040886914, + -18.938682215816534 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -432.5318816936762, + 289.04305040886914, + -18.938682215816534 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -435.6551620483399, + 288.48121814727784, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-49-11_654887343/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-49-11_654887343/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4179672517e80a3790fec373e41a66393edc6288 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-49-11_654887343/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -184.08766467870612, + 281.26603814023076, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -181.08766467870612, + 281.26603814023076, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -178.08766467870612, + 281.26603814023076, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -175.08766467870612, + 281.26603814023076, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -172.08766467870612, + 281.26603814023076, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -169.08766467870612, + 281.26603814023076, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -166.08766467870612, + 281.26603814023076, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -163.08766467870612, + 281.26603814023076, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -160.08766467870612, + 281.26603814023076, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -157.08766467870612, + 281.26603814023076, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -154.08766467870612, + 281.26603814023076, + -18.995215610174046 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -154.08766467870612, + 281.26603814023076, + -18.995215610174046 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -154.08766467870612, + 281.26603814023076, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -152.58766467870612, + 283.8641143515841, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -151.08766467870612, + 286.4621905629374, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -149.58766467870612, + 289.0602667742907, + -18.995215610174046 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -149.58766467870612, + 289.0602667742907, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -146.9895884673528, + 290.5602667742907, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -144.3915122559995, + 292.0602667742907, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -141.79343604464617, + 293.5602667742907, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -139.19535983329286, + 295.0602667742907, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -136.59728362193954, + 296.5602667742907, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -133.99920741058622, + 298.0602667742907, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -131.4011311992329, + 299.5602667742907, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -128.8030549878796, + 301.0602667742907, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -126.20497877652627, + 302.5602667742907, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -123.60690256517296, + 304.0602667742907, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -121.00882635381964, + 305.5602667742907, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -115.87129821777344, + 305.9235919952393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -118.41075014246633, + 307.0602667742907, + -18.995215610174046 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -118.41075014246633, + 307.0602667742907, + -18.995215610174046 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -118.41075014246633, + 307.0602667742907, + -18.995215610174046 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -118.41075014246633, + 307.0602667742907, + -18.995215610174046 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -118.41075014246633, + 307.0602667742907, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -116.91075014246633, + 304.4621905629374, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -115.41075014246633, + 301.8641143515841, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -113.91075014246633, + 299.26603814023076, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -112.41075014246633, + 296.66796192887745, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -110.91075014246633, + 294.06988571752413, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -109.41075014246633, + 291.4718095061708, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -107.91075014246633, + 288.8737332948175, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -106.41075014246633, + 286.2756570834642, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -104.91075014246633, + 283.67758087211087, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -103.41075014246633, + 281.07950466075755, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -101.91075014246633, + 278.48142844940423, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -100.41075014246633, + 275.8833522380509, + -18.995215610174046 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -100.41075014246633, + 275.8833522380509, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -97.81267393111301, + 274.3833522380509, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -95.2145977197597, + 272.8833522380509, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -92.61652150840638, + 271.3833522380509, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -90.01844529705306, + 269.8833522380509, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -87.42036908569975, + 268.3833522380509, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -84.82229287434643, + 266.8833522380509, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -82.22421666299311, + 265.3833522380509, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -79.6261404516398, + 263.8833522380509, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -77.02806424028648, + 262.3833522380509, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -74.42998802893317, + 260.8833522380509, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -71.83191181757985, + 259.3833522380509, + -18.995215610174046 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -71.83191181757985, + 259.3833522380509, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -70.33191181757985, + 256.7852760266976, + -18.995215610174046 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -68.83191181757985, + 254.1871998153443, + -18.995215610174046 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -66.18976526260376, + 252.47785472869873, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-51-3_87755422/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-51-3_87755422/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dfdee2f6aba66effcf807d2a407171b7a033a39b --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-51-3_87755422/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -362.95772935517925, + 274.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -360.35965314382594, + 276.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -357.7615769324726, + 277.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -355.1635007211193, + 279.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -352.565424509766, + 280.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -349.9673482984127, + 282.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -347.36927208705936, + 283.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -344.77119587570604, + 285.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -342.1731196643527, + 286.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -339.5750434529994, + 288.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -336.9769672416461, + 289.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -334.3788910302928, + 291.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -331.78081481893946, + 292.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -329.18273860758615, + 294.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -326.58466239623283, + 295.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -323.9865861848795, + 297.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -321.3885099735262, + 298.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -318.7904337621729, + 300.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -316.19235755081957, + 301.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -313.59428133946625, + 303.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -310.99620512811293, + 304.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -308.3981289167596, + 306.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -303.76718215942384, + 307.45265769958496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -305.8000527054063, + 307.9082763866919, + -17.32412226023115 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -305.8000527054063, + 307.9082763866919, + -17.32412226023115 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -305.8000527054063, + 307.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -302.8000527054063, + 307.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -299.8000527054063, + 307.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -296.8000527054063, + 307.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -293.8000527054063, + 307.9082763866919, + -17.32412226023115 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -293.8000527054063, + 307.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -291.201976494053, + 306.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -288.60390028269967, + 304.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -286.00582407134635, + 303.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -283.40774785999304, + 301.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -280.8096716486397, + 300.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -278.2115954372864, + 298.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -275.6135192259331, + 297.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -273.0154430145798, + 295.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -270.41736680322646, + 294.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -267.81929059187314, + 292.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -265.2212143805198, + 291.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -262.6231381691665, + 289.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -260.0250619578132, + 288.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -257.4269857464599, + 286.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -254.82890953510656, + 285.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -252.23083332375325, + 283.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -249.63275711239993, + 282.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -247.0346809010466, + 280.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -244.4366046896933, + 279.4082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -241.83852847833998, + 277.9082763866919, + -17.32412226023115 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -239.24045226698667, + 276.4082763866919, + -17.32412226023115 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -236.15102710723878, + 277.2074661254883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-53-46_396473730/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-53-46_396473730/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c6e927718f9026394c181747db71534f70c83fec --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_1-53-46_396473730/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -136.99133280924698, + 194.718625368238, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -135.49133280924698, + 192.1205491568847, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -133.99133280924698, + 189.52247294553138, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -132.49133280924698, + 186.92439673417806, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -130.99133280924698, + 184.32632052282474, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -129.49133280924698, + 181.72824431147143, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -127.99133280924698, + 179.1301681001181, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -126.49133280924698, + 176.5320918887648, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -124.99133280924698, + 173.93401567741148, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -123.49133280924698, + 171.33593946605816, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -121.99133280924698, + 168.73786325470485, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -120.49133280924698, + 166.13978704335153, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -118.99133280924698, + 163.54171083199822, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -117.49133280924698, + 160.9436346206449, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -115.99133280924698, + 158.34555840929158, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -114.49133280924698, + 155.74748219793827, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -112.99133280924698, + 153.14940598658495, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -111.49133280924698, + 150.55132977523164, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -109.99133280924698, + 147.95325356387832, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -108.49133280924698, + 145.355177352525, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -106.99133280924698, + 142.7571011411717, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -105.49133280924698, + 140.15902492981837, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -103.99133280924698, + 137.56094871846506, + -23.43335216329323 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -103.99133280924698, + 137.56094871846506, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -101.39325659789367, + 136.06094871846506, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -98.79518038654035, + 134.56094871846506, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -96.19710417518704, + 133.06094871846506, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -92.16819229125977, + 132.53853549957276, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -93.59902796383372, + 131.56094871846506, + -23.43335216329323 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -93.59902796383372, + 131.56094871846506, + -23.43335216329323 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -93.59902796383372, + 131.56094871846506, + -23.43335216329323 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -93.59902796383372, + 131.56094871846506, + -23.43335216329323 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -93.59902796383372, + 131.56094871846506, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -92.09902796383372, + 134.15902492981837, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -90.59902796383372, + 136.7571011411717, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -89.09902796383372, + 139.355177352525, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -87.59902796383372, + 141.95325356387832, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -86.09902796383372, + 144.55132977523164, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -84.59902796383372, + 147.14940598658495, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -83.09902796383372, + 149.74748219793827, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -81.59902796383372, + 152.34555840929158, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -80.09902796383372, + 154.9436346206449, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -78.59902796383372, + 157.54171083199822, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -77.09902796383372, + 160.13978704335153, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -75.59902796383372, + 162.73786325470485, + -23.43335216329323 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -75.59902796383372, + 162.73786325470485, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -75.59902796383372, + 165.73786325470485, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -75.59902796383372, + 168.73786325470485, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -75.59902796383372, + 171.73786325470485, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -75.59902796383372, + 174.73786325470485, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -75.59902796383372, + 177.73786325470485, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -75.59902796383372, + 180.73786325470485, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -75.59902796383372, + 183.73786325470485, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -75.59902796383372, + 186.73786325470485, + -23.43335216329323 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -75.59902796383372, + 189.73786325470485, + -23.43335216329323 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -75.5195812702179, + 191.94742860794068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_10-31-25_956134158/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_10-31-25_956134158/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b693b4067a839b302d888a1200bd616fdf000304 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_10-31-25_956134158/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 67.03779120922547, + 155.51083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 70.03779120922547, + 155.51083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 73.03779120922547, + 155.51083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 76.03779120922547, + 155.51083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 79.03779120922547, + 155.51083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 82.03779120922547, + 155.51083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 85.03779120922547, + 155.51083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 88.03779120922547, + 155.51083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 91.03779120922547, + 155.51083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 94.03779120922547, + 155.51083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 97.03779120922547, + 155.51083938229408, + -19.38375034592746 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 97.03779120922547, + 155.51083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 99.63586742057879, + 154.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 102.2339436319321, + 152.51083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 104.83201984328542, + 151.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 107.43009605463874, + 149.51083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 110.02817226599205, + 148.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 112.62624847734537, + 146.51083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 115.22432468869869, + 145.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 117.822400900052, + 143.51083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 120.42047711140532, + 142.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 123.01855332275863, + 140.51083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 126.12591409683228, + 137.03480195999146, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 125.61662953411195, + 139.01083938229408, + -19.38375034592746 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 125.61662953411195, + 139.01083938229408, + -19.38375034592746 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 125.61662953411195, + 139.01083938229408, + -19.38375034592746 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 125.61662953411195, + 139.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 125.61662953411195, + 136.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 125.61662953411195, + 133.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 125.61662953411195, + 130.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 125.61662953411195, + 127.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 125.61662953411195, + 124.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 125.61662953411195, + 121.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 125.61662953411195, + 118.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 125.61662953411195, + 115.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 125.61662953411195, + 112.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 125.61662953411195, + 109.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 125.61662953411195, + 106.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 125.61662953411195, + 103.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 125.61662953411195, + 100.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 125.61662953411195, + 97.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 125.61662953411195, + 94.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 125.61662953411195, + 91.01083938229408, + -19.38375034592746 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 125.61662953411195, + 91.01083938229408, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 127.11662953411195, + 88.41276317094076, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 128.61662953411195, + 85.81468695958745, + -19.38375034592746 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 130.11662953411195, + 83.21661074823413, + -19.38375034592746 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 131.85336561203005, + 81.29258055686951, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_10-36-47_1158747661/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_10-36-47_1158747661/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d5c14d3b0e9ef148c5b56918aaf422324ae7998 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_10-36-47_1158747661/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 169.44006847382667, + 429.0778273544581, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 170.94006847382667, + 426.4797511431048, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 172.44006847382667, + 423.8816749317515, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 173.94006847382667, + 421.2835987203982, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 175.44006847382667, + 418.68552250904486, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 176.94006847382667, + 416.08744629769154, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 178.44006847382667, + 413.4893700863382, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 179.94006847382667, + 410.8912938749849, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 181.44006847382667, + 408.2932176636316, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 182.94006847382667, + 405.6951414522783, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 184.44006847382667, + 403.09706524092496, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 185.94006847382667, + 400.49898902957165, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 187.44006847382667, + 397.90091281821833, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 188.94006847382667, + 395.302836606865, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 190.44006847382667, + 392.7047603955117, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 191.94006847382667, + 390.1066841841584, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 193.44006847382667, + 387.50860797280507, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 194.94006847382667, + 384.91053176145175, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 196.44006847382667, + 382.31245555009843, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 196.98235359191895, + 377.73239974975587, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 197.94006847382667, + 379.7143793387451, + -20.529559510948843 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 197.94006847382667, + 379.7143793387451, + -20.529559510948843 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 197.94006847382667, + 379.7143793387451, + -20.529559510948843 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 197.94006847382667, + 379.7143793387451, + -20.529559510948843 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 197.94006847382667, + 379.7143793387451, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 195.34199226247335, + 378.2143793387451, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 192.74391605112004, + 376.7143793387451, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 190.14583983976672, + 375.2143793387451, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 187.5477636284134, + 373.7143793387451, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 184.9496874170601, + 372.2143793387451, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 182.35161120570677, + 370.7143793387451, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 179.75353499435346, + 369.2143793387451, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 177.15545878300014, + 367.7143793387451, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 174.55738257164683, + 366.2143793387451, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 171.9593063602935, + 364.7143793387451, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 169.3612301489402, + 363.2143793387451, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 166.76315393758688, + 361.7143793387451, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 164.16507772623356, + 360.2143793387451, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 161.56700151488025, + 358.7143793387451, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 158.96892530352693, + 357.2143793387451, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 156.37084909217361, + 355.7143793387451, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 153.7727728808203, + 354.2143793387451, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 151.17469666946698, + 352.7143793387451, + -20.529559510948843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 148.57662045811367, + 351.2143793387451, + -20.529559510948843 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 145.60676317214967, + 352.5146116256714, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_10-41-0_1540846267/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_10-41-0_1540846267/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ed3fcb54ee9e3e156a0d3ec5e223a4be54e4f5e7 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_10-41-0_1540846267/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -106.64307171772464, + 480.5854917834623, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -104.04499550637132, + 479.0854917834623, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -101.446919295018, + 477.5854917834623, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -98.84884308366469, + 476.0854917834623, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -96.25076687231137, + 474.5854917834623, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -93.65269066095806, + 473.0854917834623, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -91.05461444960474, + 471.5854917834623, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -88.45653823825143, + 470.0854917834623, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -85.85846202689811, + 468.5854917834623, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -83.2603858155448, + 467.0854917834623, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -80.66230960419148, + 465.5854917834623, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -78.06423339283816, + 464.0854917834623, + -16.647824324016078 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -78.06423339283816, + 464.0854917834623, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -76.56423339283816, + 461.487415572109, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -75.06423339283816, + 458.8893393607557, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -73.56423339283816, + 456.29126314940237, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -72.06423339283816, + 453.69318693804905, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -70.56423339283816, + 451.09511072669574, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -69.06423339283816, + 448.4970345153424, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -67.56423339283816, + 445.8989583039891, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -66.06423339283816, + 443.3008820926358, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -64.56423339283816, + 440.7028058812825, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -63.5878408908844, + 436.78047485351567, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -63.06423339283816, + 438.10472966992916, + -16.647824324016078 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -63.06423339283816, + 438.10472966992916, + -16.647824324016078 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -63.06423339283816, + 438.10472966992916, + -16.647824324016078 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -63.06423339283816, + 438.10472966992916, + -16.647824324016078 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -63.06423339283816, + 438.10472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -65.66230960419148, + 436.60472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -68.2603858155448, + 435.10472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -70.85846202689811, + 433.60472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -73.45653823825143, + 432.10472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -76.05461444960474, + 430.60472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -78.65269066095806, + 429.10472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -81.25076687231137, + 427.60472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -83.84884308366469, + 426.10472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -86.446919295018, + 424.60472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -89.04499550637132, + 423.10472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -91.64307171772464, + 421.60472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -94.24114792907795, + 420.10472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -96.83922414043127, + 418.60472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -99.43730035178459, + 417.10472966992916, + -16.647824324016078 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -99.43730035178459, + 417.10472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -102.43730035178459, + 417.10472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -105.43730035178459, + 417.10472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -108.43730035178459, + 417.10472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -111.43730035178459, + 417.10472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -114.43730035178459, + 417.10472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -117.43730035178459, + 417.10472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -120.43730035178459, + 417.10472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -123.43730035178459, + 417.10472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -126.43730035178459, + 417.10472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -129.4373003517846, + 417.10472966992916, + -16.647824324016078 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -132.4373003517846, + 417.10472966992916, + -16.647824324016078 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -135.324280834198, + 416.13291282653813, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_10-42-50_2003980519/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_10-42-50_2003980519/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f8e6d49a1b0419ad84701d9e83cb144fe7e3d508 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_10-42-50_2003980519/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -161.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -158.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -155.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -152.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -149.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -146.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -143.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -140.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -137.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -134.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -131.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -128.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -125.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -122.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -119.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -116.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -113.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -110.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -107.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -104.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -100.36164784431458, + 165.10346708297732, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -101.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -101.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -101.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -101.13236984942785, + 163.37554737418654, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -99.63236984942785, + 165.97362358553985, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -98.13236984942785, + 168.57169979689317, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -96.63236984942785, + 171.1697760082465, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -95.13236984942785, + 173.7678522195998, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -93.63236984942785, + 176.36592843095312, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -92.13236984942785, + 178.96400464230643, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -90.63236984942785, + 181.56208085365975, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -89.13236984942785, + 184.16015706501307, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -87.63236984942785, + 186.75823327636638, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -86.13236984942785, + 189.3563094877197, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -84.63236984942785, + 191.95438569907301, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -83.13236984942785, + 194.55246191042633, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -81.63236984942785, + 197.15053812177965, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -80.13236984942785, + 199.74861433313296, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -78.63236984942785, + 202.34669054448628, + -17.417066424946192 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -78.63236984942785, + 202.34669054448628, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -78.63236984942785, + 205.34669054448628, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -78.63236984942785, + 208.34669054448628, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -78.63236984942785, + 211.34669054448628, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -78.63236984942785, + 214.34669054448628, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -78.63236984942785, + 217.34669054448628, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -78.63236984942785, + 220.34669054448628, + -17.417066424946192 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -78.63236984942785, + 223.34669054448628, + -17.417066424946192 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -78.11547446250916, + 225.18597507476807, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_10-52-46_730199492/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_10-52-46_730199492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b8a0cb444e9b4187e476dc1e315fed6551e35234 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_10-52-46_730199492/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 73.69261119822526, + 362.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 76.69261119822526, + 362.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 79.69261119822526, + 362.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 82.69261119822526, + 362.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 85.69261119822526, + 362.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 88.69261119822526, + 362.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 91.69261119822526, + 362.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 94.69261119822526, + 362.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 97.69261119822526, + 362.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 100.69261119822526, + 362.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 103.69261119822526, + 362.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 106.69261119822526, + 362.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 109.69261119822526, + 362.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 112.69261119822526, + 362.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 115.69261119822526, + 362.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 118.69261119822526, + 362.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 121.69261119822526, + 362.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 124.69261119822526, + 362.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 127.69261119822526, + 362.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 130.69261119822528, + 362.63785764969083, + -20.913460095833585 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 130.69261119822528, + 362.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 133.2906874095786, + 361.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 135.8887636209319, + 359.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 138.48683983228523, + 358.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 141.08491604363854, + 356.63785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 145.60676317214967, + 352.5146116256714, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 143.68299225499186, + 355.13785764969083, + -20.913460095833585 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 143.68299225499186, + 355.13785764969083, + -20.913460095833585 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 143.68299225499186, + 355.13785764969083, + -20.913460095833585 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 143.68299225499186, + 355.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 143.68299225499186, + 352.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 143.68299225499186, + 349.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 143.68299225499186, + 346.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 143.68299225499186, + 343.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 143.68299225499186, + 340.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 143.68299225499186, + 337.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 143.68299225499186, + 334.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 143.68299225499186, + 331.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 143.68299225499186, + 328.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 143.68299225499186, + 325.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 143.68299225499186, + 322.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 143.68299225499186, + 319.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 143.68299225499186, + 316.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 143.68299225499186, + 313.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 143.68299225499186, + 310.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 143.68299225499186, + 307.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 143.68299225499186, + 304.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 143.68299225499186, + 301.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 143.68299225499186, + 298.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 143.68299225499186, + 295.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 143.68299225499186, + 292.13785764969083, + -20.913460095833585 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 143.68299225499186, + 289.13785764969083, + -20.913460095833585 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 144.2937671661377, + 286.0436576843262, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-10-52_464837581/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-10-52_464837581/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..493ef07c90f0c4d6a66618db237035dac7718ff1 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-10-52_464837581/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -126.23055404094609, + 212.79575935806093, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -123.23055404094609, + 212.79575935806093, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -120.23055404094609, + 212.79575935806093, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -117.23055404094609, + 212.79575935806093, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -114.23055404094609, + 212.79575935806093, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -111.23055404094609, + 212.79575935806093, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -108.23055404094609, + 212.79575935806093, + -21.703443329712822 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -108.23055404094609, + 212.79575935806093, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -105.63247782959277, + 211.29575935806093, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -103.03440161823946, + 209.79575935806093, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -100.43632540688614, + 208.29575935806093, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -97.83824919553282, + 206.79575935806093, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -95.24017298417951, + 205.29575935806093, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -92.64209677282619, + 203.79575935806093, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -90.04402056147288, + 202.29575935806093, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -87.44594435011956, + 200.79575935806093, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -84.84786813876624, + 199.29575935806093, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -82.24979192741293, + 197.79575935806093, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -79.65171571605961, + 196.29575935806093, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -75.5195812702179, + 191.94742860794068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -77.0536395047063, + 194.79575935806093, + -21.703443329712822 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -77.0536395047063, + 194.79575935806093, + -21.703443329712822 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -77.0536395047063, + 194.79575935806093, + -21.703443329712822 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -77.0536395047063, + 194.79575935806093, + -21.703443329712822 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -77.0536395047063, + 194.79575935806093, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -78.5536395047063, + 192.19768314670762, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -80.0536395047063, + 189.5996069353543, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -81.5536395047063, + 187.001530724001, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -83.0536395047063, + 184.40345451264767, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -84.5536395047063, + 181.80537830129435, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -86.0536395047063, + 179.20730208994104, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -87.5536395047063, + 176.60922587858772, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -89.0536395047063, + 174.0111496672344, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -90.5536395047063, + 171.4130734558811, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -92.0536395047063, + 168.81499724452777, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -93.5536395047063, + 166.21692103317446, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -95.0536395047063, + 163.61884482182114, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -96.5536395047063, + 161.02076861046783, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -98.0536395047063, + 158.4226923991145, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -99.5536395047063, + 155.8246161877612, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -101.0536395047063, + 153.22653997640788, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -102.5536395047063, + 150.62846376505456, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -104.0536395047063, + 148.03038755370125, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -105.5536395047063, + 145.43231134234793, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -107.0536395047063, + 142.8342351309946, + -21.703443329712822 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -108.5536395047063, + 140.2361589196413, + -21.703443329712822 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -111.88605213165283, + 139.68146867752077, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-13-11_102524643/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-13-11_102524643/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b0e381b26a1733597cacfb8b5d986efff9a935f2 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-13-11_102524643/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 126.00673680317725, + -22.645047233626435, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 129.00673680317726, + -22.645047233626435, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 132.00673680317726, + -22.645047233626435, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 135.00673680317726, + -22.645047233626435, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 138.00673680317726, + -22.645047233626435, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 141.00673680317726, + -22.645047233626435, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 144.00673680317726, + -22.645047233626435, + -21.4457974093275 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 144.00673680317726, + -22.645047233626435, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 146.60481301453058, + -21.145047233626435, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 149.2028892258839, + -19.645047233626435, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 151.8009654372372, + -18.145047233626435, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 154.39904164859053, + -16.645047233626435, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 156.99711785994384, + -15.145047233626435, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 159.59519407129716, + -13.645047233626435, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 162.19327028265047, + -12.145047233626435, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 164.7913464940038, + -10.645047233626435, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 167.3894227053571, + -9.145047233626435, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 169.98749891671042, + -7.6450472336264355, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 172.58557512806374, + -6.1450472336264355, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 175.18365133941705, + -4.6450472336264355, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 177.78172755077037, + -3.1450472336264355, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 180.3798037621237, + -1.6450472336264357, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 182.977879973477, + -0.1450472336264359, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 187.6693754196167, + 2.2071708753705024, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 185.57595618483032, + 1.3549527663735639, + -21.4457974093275 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 185.57595618483032, + 1.3549527663735639, + -21.4457974093275 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 185.57595618483032, + 1.3549527663735639, + -21.4457974093275 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 185.57595618483032, + 1.3549527663735639, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 185.57595618483032, + 4.354952766373564, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 185.57595618483032, + 7.354952766373564, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 185.57595618483032, + 10.354952766373565, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 185.57595618483032, + 13.354952766373565, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 185.57595618483032, + 16.354952766373565, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 185.57595618483032, + 19.354952766373565, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 185.57595618483032, + 22.354952766373565, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 185.57595618483032, + 25.354952766373565, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 185.57595618483032, + 28.354952766373565, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 185.57595618483032, + 31.354952766373565, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 185.57595618483032, + 34.354952766373565, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 185.57595618483032, + 37.354952766373565, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 185.57595618483032, + 40.354952766373565, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 185.57595618483032, + 43.354952766373565, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 185.57595618483032, + 46.354952766373565, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 185.57595618483032, + 49.354952766373565, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 185.57595618483032, + 52.354952766373565, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 185.57595618483032, + 55.354952766373565, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 185.57595618483032, + 58.354952766373565, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 185.57595618483032, + 61.354952766373565, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 185.57595618483032, + 64.35495276637357, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 185.57595618483032, + 67.35495276637357, + -21.4457974093275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 185.57595618483032, + 70.35495276637357, + -21.4457974093275 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 184.7513246536255, + 73.33496251106263, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-14-58_306851320/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-14-58_306851320/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5b9ab32949ff3961e8693e491f450bb66f4f89ac --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-14-58_306851320/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -54.829130595517334, + 92.87457003951425, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -56.329130595517334, + 95.47264625086757, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -57.829130595517334, + 98.07072246222089, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -59.329130595517334, + 100.6687986735742, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -60.829130595517334, + 103.26687488492752, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -62.329130595517334, + 105.86495109628083, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -63.829130595517334, + 108.46302730763415, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -65.32913059551733, + 111.06110351898747, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931935 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -66.82913059551733, + 113.65917973034078, + -24.343644546160817 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -66.82913059551733, + 113.65917973034078, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -69.42720680687064, + 115.15917973034078, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -72.02528301822396, + 116.65917973034078, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -74.62335922957728, + 118.15917973034078, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -77.22143544093059, + 119.65917973034078, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -79.81951165228391, + 121.15917973034078, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -82.41758786363722, + 122.65917973034078, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -85.01566407499054, + 124.15917973034078, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -87.61374028634386, + 125.65917973034078, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -90.21181649769717, + 127.15917973034078, + -24.343644546160817 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -90.21181649769717, + 127.15917973034078, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -92.16819229125977, + 132.53853549957276, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -91.71181649769717, + 129.7572559416941, + -24.343644546160817 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -91.71181649769717, + 129.7572559416941, + -24.343644546160817 + ], + "type": "turn right", + "value": 30, + "yaw": 1.570796326794897 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -91.71181649769717, + 129.7572559416941, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -91.71181649769717, + 132.7572559416941, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -91.71181649769717, + 135.7572559416941, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -91.71181649769717, + 138.7572559416941, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -91.71181649769717, + 141.7572559416941, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -91.71181649769717, + 144.7572559416941, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -91.71181649769717, + 147.7572559416941, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -91.71181649769717, + 150.7572559416941, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -91.71181649769717, + 153.7572559416941, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -91.71181649769717, + 156.7572559416941, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -91.71181649769717, + 159.7572559416941, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -91.71181649769717, + 162.7572559416941, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -91.71181649769717, + 165.7572559416941, + -24.343644546160817 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -91.71181649769717, + 165.7572559416941, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -90.21181649769717, + 168.3553321530474, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -88.71181649769717, + 170.95340836440073, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -87.21181649769717, + 173.55148457575405, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -85.71181649769717, + 176.14956078710736, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -84.21181649769717, + 178.74763699846068, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -82.71181649769717, + 181.345713209814, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -81.21181649769717, + 183.9437894211673, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -79.71181649769717, + 186.54186563252063, + -24.343644546160817 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -78.21181649769717, + 189.13994184387394, + -24.343644546160817 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -75.5195812702179, + 191.94742860794068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-30-44_703955951/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-30-44_703955951/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..24991bb6433f5e36582ad82ea91f17fc8bfa20de --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-30-44_703955951/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -131.7937384992796, + 85.0369634141111, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -130.2937384992796, + 87.63503962546442, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -128.7937384992796, + 90.23311583681773, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -127.29373849927961, + 92.83119204817105, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -125.79373849927961, + 95.42926825952436, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -124.29373849927961, + 98.02734447087768, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -122.79373849927961, + 100.625420682231, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -121.29373849927961, + 103.22349689358431, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -119.79373849927961, + 105.82157310493763, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -118.29373849927961, + 108.41964931629094, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -116.79373849927961, + 111.01772552764426, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -115.29373849927961, + 113.61580173899758, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -113.79373849927961, + 116.21387795035089, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -112.29373849927961, + 118.81195416170421, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -110.79373849927961, + 121.41003037305752, + -19.12647363016555 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -110.79373849927961, + 121.41003037305752, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -108.1956622879263, + 122.91003037305752, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -105.59758607657298, + 124.41003037305752, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -102.99950986521966, + 125.91003037305752, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -100.40143365386635, + 127.41003037305752, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -97.80335744251303, + 128.9100303730575, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982947 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -92.24793577194214, + 130.42960138320925, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -95.20528123115972, + 130.4100303730575, + -19.12647363016555 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982947 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -95.20528123115972, + 130.4100303730575, + -19.12647363016555 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965934 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -95.20528123115972, + 130.4100303730575, + -19.12647363016555 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948923 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -95.20528123115972, + 130.4100303730575, + -19.12647363016555 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931913 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -95.20528123115972, + 130.4100303730575, + -19.12647363016555 + ], + "type": "turn left", + "value": 30, + "yaw": 2.61799387799149 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -95.20528123115972, + 130.4100303730575, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -97.80335744251303, + 131.9100303730575, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -100.40143365386635, + 133.4100303730575, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -102.99950986521966, + 134.9100303730575, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -105.59758607657298, + 136.4100303730575, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -108.1956622879263, + 137.9100303730575, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -110.79373849927961, + 139.4100303730575, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -113.39181471063293, + 140.9100303730575, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -115.98989092198624, + 142.4100303730575, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -118.58796713333956, + 143.9100303730575, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -121.18604334469288, + 145.4100303730575, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -123.78411955604619, + 146.9100303730575, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -126.38219576739951, + 148.4100303730575, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -128.98027197875282, + 149.9100303730575, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -131.57834819010614, + 151.4100303730575, + -19.12647363016555 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -131.57834819010614, + 151.4100303730575, + -19.12647363016555 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -131.57834819010614, + 151.4100303730575, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": 3.6651914291880923 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -134.17642440145946, + 149.9100303730575, + -19.12647363016555 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -136.77450061281277, + 148.4100303730575, + -19.12647363016555 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -139.05165119171144, + 149.82844924926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-36-49_1073781763/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-36-49_1073781763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d86ba1107daddeb69c0fcc0985a7574db1e3cd0a --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-36-49_1073781763/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 82.61144429335283, + 183.5563693962096, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 84.11144429335283, + 180.95829318485627, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 85.61144429335283, + 178.36021697350296, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 87.11144429335283, + 175.76214076214964, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 88.61144429335283, + 173.16406455079633, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 90.11144429335283, + 170.565988339443, + -22.558099362264425 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 90.11144429335283, + 170.565988339443, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 92.70952050470615, + 169.065988339443, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 95.30759671605946, + 167.565988339443, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 97.90567292741278, + 166.065988339443, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 100.5037491387661, + 164.565988339443, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 103.10182535011941, + 163.065988339443, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 105.69990156147273, + 161.565988339443, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 108.29797777282604, + 160.065988339443, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 110.89605398417936, + 158.565988339443, + -22.558099362264425 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 110.89605398417936, + 158.565988339443, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 112.39605398417936, + 155.9679121280897, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 113.89605398417936, + 153.36983591673638, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 115.39605398417936, + 150.77175970538306, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 116.89605398417936, + 148.17368349402975, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 118.39605398417936, + 145.57560728267643, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 119.89605398417936, + 142.9775310713231, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 121.39605398417936, + 140.3794548599698, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 126.12591409683228, + 137.03480195999146, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 122.89605398417936, + 137.78137864861648, + -22.558099362264425 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 122.89605398417936, + 137.78137864861648, + -22.558099362264425 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 122.89605398417936, + 137.78137864861648, + -22.558099362264425 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 122.89605398417936, + 137.78137864861648, + -22.558099362264425 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 122.89605398417936, + 137.78137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 120.29797777282604, + 136.28137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 117.69990156147273, + 134.78137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 115.10182535011941, + 133.28137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 112.5037491387661, + 131.78137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 109.90567292741278, + 130.28137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 107.30759671605946, + 128.78137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 104.70952050470615, + 127.28137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 102.11144429335283, + 125.78137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 99.51336808199952, + 124.28137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 96.9152918706462, + 122.78137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 94.31721565929288, + 121.28137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 91.71913944793957, + 119.78137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 89.12106323658625, + 118.28137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 86.52298702523294, + 116.78137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 83.92491081387962, + 115.28137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 81.3268346025263, + 113.78137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 78.72875839117299, + 112.28137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 76.13068217981967, + 110.78137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 73.53260596846636, + 109.28137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 70.93452975711304, + 107.78137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 68.33645354575972, + 106.28137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 65.73837733440641, + 104.78137864861648, + -22.558099362264425 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 65.73837733440641, + 104.78137864861648, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 64.23837733440641, + 102.18330243726317, + -22.558099362264425 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 62.73837733440641, + 99.58522622590985, + -22.558099362264425 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 61.79868612289429, + 98.42731351852417, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-42-34_1659373349/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-42-34_1659373349/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..278fcc58e82d711655ee34afba52c679649b6e9f --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-42-34_1659373349/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 157.57174787898083, + 300.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 157.57174787898083, + 303.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 157.57174787898083, + 306.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 157.57174787898083, + 309.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 157.57174787898083, + 312.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 157.57174787898083, + 315.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 157.57174787898083, + 318.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 157.57174787898083, + 321.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 157.57174787898083, + 324.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 157.57174787898083, + 327.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 157.57174787898083, + 330.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 157.57174787898083, + 333.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 157.57174787898083, + 336.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 157.57174787898083, + 339.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 157.57174787898083, + 342.75043761325736, + -15.266682036711018 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 157.57174787898083, + 342.75043761325736, + -15.266682036711018 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 157.57174787898083, + 342.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 154.9736716676275, + 344.25043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 152.3755954562742, + 345.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 149.77751924492088, + 347.25043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 145.60676317214967, + 352.5146116256714, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 147.17944303356757, + 348.75043761325736, + -15.266682036711018 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 147.17944303356757, + 348.75043761325736, + -15.266682036711018 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 147.17944303356757, + 348.75043761325736, + -15.266682036711018 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 147.17944303356757, + 348.75043761325736, + -15.266682036711018 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 147.17944303356757, + 348.75043761325736, + -15.266682036711018 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 147.17944303356757, + 348.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 149.77751924492088, + 350.25043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 152.3755954562742, + 351.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 154.9736716676275, + 353.25043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 157.57174787898083, + 354.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 160.16982409033415, + 356.25043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 162.76790030168746, + 357.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 165.36597651304078, + 359.25043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 167.9640527243941, + 360.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 170.5621289357474, + 362.25043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 173.16020514710073, + 363.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 175.75828135845404, + 365.25043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 178.35635756980736, + 366.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 180.95443378116067, + 368.25043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 183.552509992514, + 369.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 186.1505862038673, + 371.25043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 188.74866241522062, + 372.75043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 191.34673862657394, + 374.25043761325736, + -15.266682036711018 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 193.94481483792725, + 375.75043761325736, + -15.266682036711018 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 196.98235359191895, + 377.73239974975587, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-43-0_111691313/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-43-0_111691313/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5bb23ea39001e3629e7900aae24e6e1bbc54ea14 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-43-0_111691313/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 111.31258627265636, + 145.63037135114104, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 108.71451006130305, + 144.13037135114104, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 106.11643384994973, + 142.63037135114104, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 103.51835763859641, + 141.13037135114104, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 100.9202814272431, + 139.63037135114104, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 98.32220521588978, + 138.13037135114104, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 95.72412900453647, + 136.63037135114104, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 93.12605279318315, + 135.13037135114104, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 90.52797658182983, + 133.63037135114104, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 87.92990037047652, + 132.13037135114104, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 85.3318241591232, + 130.63037135114104, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 82.73374794776988, + 129.13037135114104, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 80.13567173641657, + 127.63037135114104, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 77.53759552506325, + 126.13037135114104, + -21.445827315929357 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 77.53759552506325, + 126.13037135114104, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 76.03759552506325, + 123.53229513978772, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 74.53759552506325, + 120.9342189284344, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 73.03759552506325, + 118.33614271708109, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 71.53759552506325, + 115.73806650572777, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 70.03759552506325, + 113.13999029437446, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 68.53759552506325, + 110.54191408302114, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 67.03759552506325, + 107.94383787166782, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 65.53759552506325, + 105.34576166031451, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 64.03759552506325, + 102.74768544896119, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 61.79868612289429, + 98.42731351852417, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 62.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 62.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 62.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 62.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 62.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 62.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 65.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 68.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 71.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 74.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 77.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 80.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 83.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 86.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 89.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 92.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 95.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 98.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 101.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 104.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 107.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 110.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 110.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 110.53759552506325, + 100.14960923760788, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 112.03759552506325, + 97.55153302625456, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 113.53759552506325, + 94.95345681490124, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 115.03759552506325, + 92.35538060354793, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 116.53759552506325, + 89.75730439219461, + -21.445827315929357 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 116.53759552506325, + 89.75730439219461, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 119.13567173641657, + 88.25730439219461, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 121.73374794776988, + 86.75730439219461, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 124.3318241591232, + 85.25730439219461, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 126.92990037047652, + 83.75730439219461, + -21.445827315929357 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 129.52797658182982, + 82.25730439219461, + -21.445827315929357 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 131.85336561203005, + 81.29258055686951, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-45-19_808808585/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-45-19_808808585/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d45d1ed379e240b8641a11cac117a087f6a0908 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-45-19_808808585/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 187.08795151133708, + -21.955154780424003, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 187.08795151133708, + -24.955154780424003, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 187.08795151133708, + -27.955154780424003, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 187.08795151133708, + -30.955154780424003, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 187.08795151133708, + -33.955154780424, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 187.08795151133708, + -36.955154780424, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 187.08795151133708, + -39.955154780424, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 187.08795151133708, + -42.955154780424, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 187.08795151133708, + -45.955154780424, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 187.08795151133708, + -48.955154780424, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 187.08795151133708, + -51.955154780424, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 187.08795151133708, + -54.955154780424, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 187.08795151133708, + -57.955154780424, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 187.08795151133708, + -60.955154780424, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 187.08795151133708, + -63.955154780424, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 187.08795151133708, + -66.95515478042401, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 187.08795151133708, + -69.95515478042401, + -17.893966371901037 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 187.08795151133708, + -69.95515478042401, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 185.58795151133708, + -72.55323099177733, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 184.08795151133708, + -75.15130720313064, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 182.58795151133708, + -77.74938341448396, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 178.66267461776735, + -81.21840529441835, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 181.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 181.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 181.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 181.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 181.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 178.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 175.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 172.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 169.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 166.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 163.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 160.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 157.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 154.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 151.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 148.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 145.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 142.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 139.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 136.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 133.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 130.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 130.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 130.08795151133708, + -80.34745962583727, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 128.58795151133708, + -82.94553583719059, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 127.08795151133708, + -85.5436120485439, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 125.58795151133708, + -88.14168825989722, + -17.893966371901037 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 125.58795151133708, + -88.14168825989722, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 122.98987529998377, + -89.64168825989722, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 120.39179908863045, + -91.14168825989722, + -17.893966371901037 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 117.79372287727713, + -92.64168825989722, + -17.893966371901037 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 116.47075052261353, + -94.12755188941956, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-50-30_1631596366/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-50-30_1631596366/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..41ce4c2df8f0acd600cc247c3242ebf272198103 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-50-30_1631596366/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 21.46594773596373, + 46.398231595018636, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 21.46594773596373, + 43.398231595018636, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 21.46594773596373, + 40.398231595018636, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 21.46594773596373, + 37.398231595018636, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 21.46594773596373, + 34.398231595018636, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 21.46594773596373, + 31.398231595018636, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 21.46594773596373, + 28.398231595018636, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 21.46594773596373, + 25.398231595018636, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 21.46594773596373, + 22.398231595018636, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 21.46594773596373, + 19.398231595018636, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 21.46594773596373, + 16.398231595018636, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 21.46594773596373, + 13.398231595018636, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 21.46594773596373, + 10.398231595018636, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 21.46594773596373, + 7.398231595018636, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 21.46594773596373, + 4.398231595018636, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 21.46594773596373, + 1.3982315950186361, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 21.46594773596373, + -1.6017684049813639, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 20.778573703765872, + -6.891405725479126, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 21.46594773596373, + -4.601768404981364, + -18.793621511448347 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 21.46594773596373, + -4.601768404981364, + -18.793621511448347 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 21.46594773596373, + -4.601768404981364, + -18.793621511448347 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 21.46594773596373, + -4.601768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 24.064023947317047, + -6.101768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 26.662100158670363, + -7.601768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 29.26017637002368, + -9.101768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 31.858252581376995, + -10.601768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 34.45632879273031, + -12.101768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 37.05440500408363, + -13.601768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 39.65248121543694, + -15.101768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 42.25055742679026, + -16.601768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 44.848633638143575, + -18.101768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 47.44670984949689, + -19.601768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 50.04478606085021, + -21.101768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 52.64286227220352, + -22.601768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 55.24093848355684, + -24.101768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 57.839014694910155, + -25.601768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 60.43709090626347, + -27.101768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 63.03516711761679, + -28.601768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 65.63324332897011, + -30.101768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982977 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 68.23131954032343, + -31.601768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 70.82939575167674, + -33.101768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 73.42747196303006, + -34.601768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 76.02554817438337, + -36.101768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 78.62362438573669, + -37.601768404981364, + -18.793621511448347 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 78.62362438573669, + -37.601768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 81.62362438573669, + -37.601768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 84.62362438573669, + -37.601768404981364, + -18.793621511448347 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 87.62362438573669, + -37.601768404981364, + -18.793621511448347 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.69617862701416, + -39.65713562965393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-55-27_1376941062/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-55-27_1376941062/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4155bbf2008e1ab08c33ed6f37aaf9ff9369180e --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_11-55-27_1376941062/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 6.497206218076983, + 319.01983395416215, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4.997206218076984, + 316.42175774280884, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 3.497206218076985, + 313.8236815314555, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1.9972062180769858, + 311.2256053201022, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 0.4972062180769865, + 308.6275291087489, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1.0027937819230128, + 306.0294528973956, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -2.502793781923012, + 303.43137668604226, + -21.750947345515055 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -2.502793781923012, + 303.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -2.502793781923012, + 300.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2.502793781923012, + 297.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -2.502793781923012, + 294.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2.502793781923012, + 291.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2.502793781923012, + 288.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -2.502793781923012, + 285.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -2.502793781923012, + 282.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2.502793781923012, + 279.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -2.502793781923012, + 276.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2.502793781923012, + 273.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -4.862148499488831, + 268.6817756652832, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2.502793781923012, + 270.43137668604226, + -21.750947345515055 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -2.502793781923012, + 270.43137668604226, + -21.750947345515055 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -2.502793781923012, + 270.43137668604226, + -21.750947345515055 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -2.502793781923012, + 270.43137668604226, + -21.750947345515055 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -2.502793781923012, + 270.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 0.49720621807698784, + 270.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 3.497206218076988, + 270.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 6.497206218076988, + 270.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 9.497206218076988, + 270.43137668604226, + -21.750947345515055 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 9.497206218076988, + 270.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 12.095282429430304, + 271.93137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 14.69335864078362, + 273.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 17.291434852136938, + 274.93137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982986 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 19.889511063490254, + 276.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 22.48758727484357, + 277.93137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 25.085663486196886, + 279.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 27.6837396975502, + 280.93137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 30.281815908903518, + 282.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 32.879892120256834, + 283.93137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 35.47796833161015, + 285.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 38.076044542963466, + 286.93137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 40.67412075431678, + 288.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 43.2721969656701, + 289.93137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 45.870273177023414, + 291.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 48.46834938837673, + 292.93137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 51.066425599730046, + 294.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 53.66450181108336, + 295.93137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 56.26257802243668, + 297.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 58.860654233789994, + 298.93137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 61.45873044514331, + 300.43137668604226, + -21.750947345515055 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 64.05680665649663, + 301.93137668604226, + -21.750947345515055 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 66.17132925987244, + 304.3075149536133, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-14-36_321869343/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-14-36_321869343/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9201be65a4cb35e54208e2b381016927c41f8ab3 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-14-36_321869343/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 73.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 76.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 79.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 82.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 85.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 88.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 91.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 94.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 97.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 100.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 103.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 106.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 109.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 112.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 115.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 118.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 121.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 124.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 127.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 130.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 133.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 136.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 136.94660529616252, + 346.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 139.54468150751583, + 347.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 142.14275771886915, + 349.3817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 145.60676317214967, + 352.5146116256714, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 144.74083393022246, + 350.8817054950926, + -16.735731307394087 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 144.74083393022246, + 350.8817054950926, + -16.735731307394087 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 144.74083393022246, + 350.8817054950926, + -16.735731307394087 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 144.74083393022246, + 350.8817054950926, + -16.735731307394087 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 144.74083393022246, + 350.8817054950926, + -16.735731307394087 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 144.74083393022246, + 350.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 144.74083393022246, + 347.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 144.74083393022246, + 344.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 144.74083393022246, + 341.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 144.74083393022246, + 338.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 144.74083393022246, + 335.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 144.74083393022246, + 332.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 144.74083393022246, + 329.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 144.74083393022246, + 326.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 144.74083393022246, + 323.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 144.74083393022246, + 320.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 144.74083393022246, + 317.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 144.74083393022246, + 314.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 144.74083393022246, + 311.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 144.74083393022246, + 308.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 144.74083393022246, + 305.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 144.74083393022246, + 302.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 144.74083393022246, + 299.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 144.74083393022246, + 296.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 144.74083393022246, + 293.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 144.74083393022246, + 290.8817054950926, + -16.735731307394087 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 144.74083393022246, + 287.8817054950926, + -16.735731307394087 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 144.2937671661377, + 286.0436576843262, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-14-8_421825361/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-14-8_421825361/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22721f18f17a20779179eeb91709ea53d8308fe7 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-14-8_421825361/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -81.68104218564389, + 270.7343778884472, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -81.68104218564389, + 267.7343778884472, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -81.68104218564389, + 264.7343778884472, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -81.68104218564389, + 261.7343778884472, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -81.68104218564389, + 258.7343778884472, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -81.68104218564389, + 255.73437788844723, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -81.68104218564389, + 252.73437788844723, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -81.68104218564389, + 249.73437788844723, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -81.68104218564389, + 246.73437788844723, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -81.68104218564389, + 243.73437788844723, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -81.68104218564389, + 240.73437788844723, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -81.68104218564389, + 237.73437788844723, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -81.68104218564389, + 234.73437788844723, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -81.68104218564389, + 231.73437788844723, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -81.68104218564389, + 228.73437788844723, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -81.68104218564389, + 225.73437788844723, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -81.68104218564389, + 222.73437788844723, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -81.68104218564389, + 219.73437788844723, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -81.68104218564389, + 216.73437788844723, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -81.68104218564389, + 213.73437788844723, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -81.68104218564389, + 210.73437788844723, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -81.68104218564389, + 207.73437788844723, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -81.68104218564389, + 204.73437788844723, + -18.05846429314193 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -81.68104218564389, + 204.73437788844723, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -80.18104218564389, + 202.1363016770939, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -78.68104218564389, + 199.5382254657406, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -77.18104218564389, + 196.94014925438728, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -75.5195812702179, + 191.94742860794068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -75.68104218564389, + 194.34207304303396, + -18.05846429314193 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -75.68104218564389, + 194.34207304303396, + -18.05846429314193 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -75.68104218564389, + 194.34207304303396, + -18.05846429314193 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -75.68104218564389, + 194.34207304303396, + -18.05846429314193 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -75.68104218564389, + 194.34207304303396, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -78.2791183969972, + 192.84207304303396, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -80.87719460835052, + 191.34207304303396, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -83.47527081970384, + 189.84207304303396, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -86.07334703105715, + 188.34207304303396, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -88.67142324241047, + 186.84207304303396, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -91.26949945376379, + 185.34207304303396, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -93.8675756651171, + 183.84207304303396, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -96.46565187647042, + 182.34207304303396, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -99.06372808782373, + 180.84207304303396, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -101.66180429917705, + 179.34207304303396, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -104.25988051053037, + 177.84207304303396, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -106.85795672188368, + 176.34207304303396, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -109.456032933237, + 174.84207304303396, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -112.05410914459031, + 173.34207304303396, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -114.65218535594363, + 171.84207304303396, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -117.25026156729695, + 170.34207304303396, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -119.84833777865026, + 168.84207304303396, + -18.05846429314193 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -119.84833777865026, + 168.84207304303396, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -121.34833777865026, + 166.24399683168065, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -122.84833777865026, + 163.64592062032733, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -124.34833777865026, + 161.04784440897402, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -125.84833777865026, + 158.4497681976207, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -127.34833777865026, + 155.85169198626738, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -128.84833777865026, + 153.25361577491407, + -18.05846429314193 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -130.34833777865026, + 150.65553956356075, + -18.05846429314193 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.05646734237672, + 147.10406847000124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-15-2_1731563037/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-15-2_1731563037/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bbc1571e687516697be19f69675e25caa1b2c595 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-15-2_1731563037/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 84.60314559587411, + -1.7489841234648207, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 81.60314559587411, + -1.7489841234648202, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 78.60314559587411, + -1.7489841234648198, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 75.60314559587411, + -1.7489841234648194, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 72.60314559587411, + -1.748984123464819, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 69.60314559587411, + -1.7489841234648185, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 66.60314559587411, + -1.748984123464818, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 63.60314559587411, + -1.7489841234648176, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 60.60314559587411, + -1.7489841234648171, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 57.60314559587411, + -1.7489841234648167, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 54.60314559587411, + -1.7489841234648162, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 51.60314559587411, + -1.7489841234648158, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 48.60314559587411, + -1.7489841234648154, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 45.60314559587411, + -1.748984123464815, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 42.60314559587411, + -1.7489841234648145, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 39.60314559587411, + -1.748984123464814, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 36.60314559587411, + -1.7489841234648136, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 33.60314559587411, + -1.7489841234648131, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 30.60314559587411, + -1.7489841234648127, + -17.608285049852633 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 30.60314559587411, + -1.7489841234648127, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 28.005069384520795, + -3.2489841234648127, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 25.40699317316748, + -4.748984123464813, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 20.778573703765872, + -6.891405725479126, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 22.808916961814163, + -6.248984123464813, + -17.608285049852633 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 22.808916961814163, + -6.248984123464813, + -17.608285049852633 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 22.808916961814163, + -6.248984123464813, + -17.608285049852633 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 22.808916961814163, + -6.248984123464813, + -17.608285049852633 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 22.808916961814163, + -6.248984123464813, + -17.608285049852633 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982991 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 22.808916961814163, + -6.248984123464813, + -17.608285049852633 + ], + "type": "turn left", + "value": 30, + "yaw": -4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 22.808916961814163, + -6.248984123464813, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 25.808916961814163, + -6.248984123464813, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 28.808916961814163, + -6.248984123464813, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 31.808916961814163, + -6.248984123464813, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 34.80891696181416, + -6.248984123464813, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 37.80891696181416, + -6.248984123464813, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 40.80891696181416, + -6.248984123464813, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 43.80891696181416, + -6.248984123464813, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 46.80891696181416, + -6.248984123464813, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 49.80891696181416, + -6.248984123464813, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 52.80891696181416, + -6.248984123464813, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 55.80891696181416, + -6.248984123464813, + -17.608285049852633 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 55.80891696181416, + -6.248984123464813, + -17.608285049852633 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 55.80891696181416, + -6.248984123464813, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 57.30891696181416, + -8.847060334818128, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 58.80891696181416, + -11.445136546171444, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 60.30891696181416, + -14.04321275752476, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 61.80891696181416, + -16.641288968878076, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 63.30891696181416, + -19.239365180231392, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 64.80891696181416, + -21.837441391584708, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 66.30891696181416, + -24.435517602938024, + -17.608285049852633 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 66.30891696181416, + -24.435517602938024, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 68.90699317316748, + -25.935517602938024, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 71.5050693845208, + -27.435517602938024, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 74.10314559587411, + -28.935517602938024, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 76.70122180722743, + -30.435517602938024, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 79.29929801858074, + -31.935517602938024, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 81.89737422993406, + -33.43551760293802, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982978 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 84.49545044128737, + -34.93551760293802, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 87.09352665264069, + -36.43551760293802, + -17.608285049852633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 89.691602863994, + -37.93551760293802, + -17.608285049852633 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.69617862701416, + -39.65713562965393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-19-38_313823293/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-19-38_313823293/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d3c157e3622b8cb4f6a3628801831847be5a9ac --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-19-38_313823293/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -31.372790315923346, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -28.372790315923346, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -25.372790315923346, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -22.372790315923346, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -19.372790315923346, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -16.372790315923346, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -13.372790315923346, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -10.372790315923346, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -7.372790315923346, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -4.372790315923346, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1.3727903159233463, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1.6272096840766537, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 4.627209684076654, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 7.627209684076654, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 10.627209684076654, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 13.627209684076654, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 16.627209684076654, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 19.627209684076654, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 22.627209684076654, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 25.627209684076654, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 28.627209684076654, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 31.627209684076654, + 43.60947536313349, + -20.437308623594127 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 31.627209684076654, + 43.60947536313349, + -20.437308623594127 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 31.627209684076654, + 43.60947536313349, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 33.127209684076654, + 46.20755157448681, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 34.627209684076654, + 48.80562778584012, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 38.59305419921875, + 50.505572175979616, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 36.127209684076654, + 51.40370399719344, + -20.437308623594127 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 36.127209684076654, + 51.40370399719344, + -20.437308623594127 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 36.127209684076654, + 51.40370399719344, + -20.437308623594127 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 36.127209684076654, + 51.40370399719344, + -20.437308623594127 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 36.127209684076654, + 51.40370399719344, + -20.437308623594127 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 36.127209684076654, + 51.40370399719344, + -20.437308623594127 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948961 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 36.127209684076654, + 51.40370399719344, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 36.127209684076654, + 48.40370399719344, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 36.127209684076654, + 45.40370399719344, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 36.127209684076654, + 42.40370399719344, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 36.127209684076654, + 39.40370399719344, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 36.127209684076654, + 36.40370399719344, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 36.127209684076654, + 33.40370399719344, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 36.127209684076654, + 30.40370399719344, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 36.127209684076654, + 27.40370399719344, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 36.127209684076654, + 24.40370399719344, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 36.127209684076654, + 21.40370399719344, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 36.127209684076654, + 18.40370399719344, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 36.127209684076654, + 15.403703997193439, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 36.127209684076654, + 12.403703997193439, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 36.127209684076654, + 9.403703997193439, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 36.127209684076654, + 6.403703997193439, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 36.127209684076654, + 3.403703997193439, + -20.437308623594127 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 36.127209684076654, + 3.403703997193439, + -20.437308623594127 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 36.127209684076654, + 3.403703997193439, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 33.52913347272334, + 1.9037039971934393, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 30.93105726137002, + 0.4037039971934395, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 28.332981050016706, + -1.0962960028065603, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 25.73490483866339, + -2.59629600280656, + -20.437308623594127 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 23.136828627310074, + -4.09629600280656, + -20.437308623594127 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 20.778573703765872, + -6.891405725479126, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-2-18_31797565/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-2-18_31797565/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7658f72954e88b56f79adce511f5386228de57ae --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-2-18_31797565/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -100.83822717602618, + 166.1555145336165, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -102.33822717602618, + 163.55743832226318, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -103.83822717602618, + 160.95936211090986, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -105.33822717602618, + 158.36128589955655, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -106.83822717602618, + 155.76320968820323, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -108.33822717602618, + 153.16513347684992, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -109.83822717602618, + 150.5670572654966, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -111.33822717602618, + 147.96898105414328, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -112.83822717602618, + 145.37090484278997, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -114.33822717602618, + 142.77282863143665, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -115.83822717602618, + 140.17475242008334, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -117.33822717602618, + 137.57667620873002, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -118.83822717602618, + 134.9785999973767, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -120.33822717602618, + 132.3805237860234, + -17.62578228140879 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -120.33822717602618, + 132.3805237860234, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -120.33822717602618, + 129.3805237860234, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -120.33822717602618, + 126.38052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -120.33822717602618, + 123.38052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -120.33822717602618, + 120.38052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -121.91530103683472, + 115.51278867721558, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -120.33822717602618, + 117.38052378602339, + -17.62578228140879 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -120.33822717602618, + 117.38052378602339, + -17.62578228140879 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -120.33822717602618, + 117.38052378602339, + -17.62578228140879 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -120.33822717602618, + 117.38052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -122.9363033873795, + 115.88052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -125.53437959873281, + 114.38052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -128.13245581008613, + 112.88052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -130.73053202143944, + 111.38052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -133.32860823279276, + 109.88052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -135.92668444414608, + 108.38052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -138.5247606554994, + 106.88052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -141.1228368668527, + 105.38052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -143.72091307820602, + 103.88052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -146.31898928955934, + 102.38052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -148.91706550091266, + 100.88052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -151.51514171226597, + 99.38052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -154.1132179236193, + 97.88052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -156.7112941349726, + 96.38052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -159.30937034632592, + 94.88052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -161.90744655767924, + 93.38052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -164.50552276903255, + 91.88052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -167.10359898038587, + 90.38052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -169.70167519173918, + 88.88052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -172.2997514030925, + 87.38052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -174.89782761444582, + 85.88052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -177.49590382579913, + 84.38052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -180.09398003715245, + 82.88052378602339, + -17.62578228140879 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -182.69205624850576, + 81.38052378602339, + -17.62578228140879 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -186.17330045700075, + 79.25256423950195, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-21-3_1412017135/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-21-3_1412017135/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de4982efef98110d3f6d695fdf378c4be992e21c --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-21-3_1412017135/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -22.149173287921855, + 42.12468468237293, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -19.55109707656854, + 40.62468468237293, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -16.953020865215223, + 39.12468468237293, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -14.354944653861907, + 37.62468468237293, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -11.75686844250859, + 36.12468468237293, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -9.158792231155275, + 34.62468468237293, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -6.5607160198019585, + 33.12468468237293, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -3.9626398084486425, + 31.62468468237293, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1.3645635970953265, + 30.12468468237293, + -23.011340447881977 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1.3645635970953265, + 30.12468468237293, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 0.13543640290467396, + 27.526608471019614, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1.6354364029046744, + 24.928532259666298, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 3.135436402904675, + 22.330456048312982, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 4.635436402904675, + 19.732379836959666, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 6.135436402904675, + 17.13430362560635, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 7.635436402904675, + 14.536227414253034, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 9.135436402904675, + 11.938151202899718, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 10.635436402904675, + 9.340074991546402, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 12.135436402904675, + 6.741998780193086, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 13.635436402904675, + 4.14392256883977, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 15.135436402904675, + 1.5458463574864538, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 16.635436402904677, + -1.0522298538668622, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965972 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 18.135436402904677, + -3.650306065220178, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 20.778573703765872, + -6.891405725479126, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 19.635436402904677, + -6.248382276573494, + -23.011340447881977 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 19.635436402904677, + -6.248382276573494, + -23.011340447881977 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 19.635436402904677, + -6.248382276573494, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 18.135436402904677, + -8.84645848792681, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 16.635436402904677, + -11.444534699280126, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 15.135436402904677, + -14.042610910633442, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 13.635436402904677, + -16.64068712198676, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 12.135436402904677, + -19.238763333340074, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 10.635436402904677, + -21.83683954469339, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 9.135436402904677, + -24.434915756046706, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 7.635436402904678, + -27.032991967400022, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 6.135436402904679, + -29.63106817875334, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 4.63543640290468, + -32.229144390106654, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 3.1354364029046806, + -34.82722060145997, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1.6354364029046813, + -37.425296812813286, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 0.13543640290468195, + -40.0233730241666, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1.3645635970953174, + -42.62144923551992, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -2.8645635970953167, + -45.219525446873234, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -4.364563597095316, + -47.81760165822655, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -5.864563597095315, + -50.415677869579866, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -7.364563597095314, + -53.01375408093318, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -8.864563597095314, + -55.6118302922865, + -23.011340447881977 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -8.864563597095314, + -55.6118302922865, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -8.864563597095314, + -58.6118302922865, + -23.011340447881977 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -8.864563597095314, + -61.6118302922865, + -23.011340447881977 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.37222833633423, + -64.11597180366516, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-27-2_129183332/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-27-2_129183332/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b79a3d9a9ddeb562eaebaaeb46644309b4f3523c --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-27-2_129183332/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -135.32978793217666, + 193.0908042253465, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -133.82978793217666, + 190.49272801399317, + -15.29428500995077 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -133.82978793217666, + 190.49272801399317, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -131.23171172082334, + 188.99272801399317, + -15.29428500995077 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -131.23171172082334, + 188.99272801399317, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -129.73171172082334, + 186.39465180263986, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -128.23171172082334, + 183.79657559128654, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -126.73171172082334, + 181.19849937993322, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -125.23171172082334, + 178.6004231685799, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -123.73171172082334, + 176.0023469572266, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -122.23171172082334, + 173.40427074587328, + -15.29428500995077 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -122.23171172082334, + 173.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -122.23171172082334, + 170.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -122.23171172082334, + 167.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -122.23171172082334, + 164.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -122.23171172082334, + 161.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -122.23171172082334, + 158.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -122.23171172082334, + 155.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -122.23171172082334, + 152.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -122.23171172082334, + 149.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -122.23171172082334, + 146.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -122.23171172082334, + 143.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -122.23171172082334, + 140.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -122.23171172082334, + 137.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -122.23171172082334, + 134.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -122.23171172082334, + 131.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -122.23171172082334, + 128.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -122.23171172082334, + 125.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -122.23171172082334, + 122.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -121.91530103683472, + 115.51278867721558, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -122.23171172082334, + 119.40427074587328, + -15.29428500995077 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -122.23171172082334, + 119.40427074587328, + -15.29428500995077 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -122.23171172082334, + 119.40427074587328, + -15.29428500995077 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -122.23171172082334, + 119.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -124.82978793217666, + 117.90427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -127.42786414352997, + 116.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -130.0259403548833, + 114.90427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -132.6240165662366, + 113.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -135.22209277758992, + 111.90427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -137.82016898894324, + 110.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -140.41824520029655, + 108.90427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -143.01632141164987, + 107.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -145.61439762300319, + 105.90427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -148.2124738343565, + 104.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -150.81055004570982, + 102.90427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -153.40862625706313, + 101.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -156.00670246841645, + 99.90427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -158.60477867976977, + 98.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -161.20285489112308, + 96.90427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -163.8009311024764, + 95.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -166.3990073138297, + 93.90427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -168.99708352518303, + 92.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -171.59515973653635, + 90.90427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -174.19323594788966, + 89.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -176.79131215924298, + 87.90427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -179.3893883705963, + 86.40427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -181.9874645819496, + 84.90427074587328, + -15.29428500995077 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -181.9874645819496, + 84.90427074587328, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -183.4874645819496, + 82.30619453451996, + -15.29428500995077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -184.9874645819496, + 79.70811832316664, + -15.29428500995077 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -186.17330045700075, + 79.25256423950195, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-29-19_1435525339/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-29-19_1435525339/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d347b49039fe78314db0008b8719977de0e28066 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-29-19_1435525339/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 98.84046412764533, + 32.664649407847726, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 98.84046412764533, + 29.664649407847726, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 98.84046412764533, + 26.664649407847726, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 98.84046412764533, + 23.664649407847726, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 98.84046412764533, + 20.664649407847726, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 98.84046412764533, + 17.664649407847726, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 98.84046412764533, + 14.664649407847726, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 98.84046412764533, + 11.664649407847726, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 98.84046412764533, + 8.664649407847726, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 98.84046412764533, + 5.664649407847726, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 98.84046412764533, + 2.664649407847726, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 98.84046412764533, + -0.3353505921522739, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 98.84046412764533, + -3.335350592152274, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 98.84046412764533, + -6.335350592152274, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 98.84046412764533, + -9.335350592152274, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 98.84046412764533, + -12.335350592152274, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 98.84046412764533, + -15.335350592152274, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 98.84046412764533, + -18.335350592152274, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 98.84046412764533, + -21.335350592152274, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 98.84046412764533, + -24.335350592152274, + -19.816061764532957 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 98.84046412764533, + -24.335350592152274, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 97.34046412764533, + -26.93342680350559, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 95.84046412764533, + -29.531503014858906, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 94.34046412764533, + -32.12957922621222, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 92.84046412764533, + -34.72765543756554, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.69617862701416, + -39.65713562965393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 91.34046412764533, + -37.325731648918854, + -19.816061764532957 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 91.34046412764533, + -37.325731648918854, + -19.816061764532957 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 91.34046412764533, + -37.325731648918854, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 92.84046412764533, + -39.92380786027217, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 94.34046412764533, + -42.521884071625486, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 95.84046412764533, + -45.1199602829788, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 97.34046412764533, + -47.71803649433212, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 98.84046412764533, + -50.316112705685434, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 100.34046412764533, + -52.91418891703875, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 101.84046412764533, + -55.512265128392066, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 103.34046412764533, + -58.11034133974538, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 104.84046412764533, + -60.7084175510987, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 106.34046412764533, + -63.306493762452014, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 107.84046412764533, + -65.90456997380534, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196599 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 109.34046412764533, + -68.50264618515865, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 110.84046412764533, + -71.10072239651197, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 112.34046412764533, + -73.69879860786529, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 113.84046412764533, + -76.2968748192186, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 115.34046412764533, + -78.89495103057192, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 116.84046412764533, + -81.49302724192523, + -19.816061764532957 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 116.84046412764533, + -81.49302724192523, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 116.84046412764533, + -84.49302724192523, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 116.84046412764533, + -87.49302724192523, + -19.816061764532957 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 116.84046412764533, + -90.49302724192523, + -19.816061764532957 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 116.47075052261353, + -94.12755188941956, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-33-34_1501830323/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-33-34_1501830323/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1f6dcecb2abfbbed877af7a1e5a3a8166d77af8c --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-33-34_1501830323/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 98.59639709087462, + 163.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 101.59639709087462, + 163.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 104.59639709087462, + 163.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 107.59639709087462, + 163.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 110.59639709087462, + 163.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 113.59639709087462, + 163.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 116.59639709087462, + 163.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 119.59639709087462, + 163.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 122.59639709087462, + 163.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 125.59639709087462, + 163.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 128.59639709087463, + 163.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 131.59639709087463, + 163.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 134.59639709087463, + 163.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 137.59639709087463, + 163.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 140.59639709087463, + 163.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 143.59639709087463, + 163.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 146.59639709087463, + 163.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 149.59639709087463, + 163.6110480849635, + -22.327391261092398 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 149.59639709087463, + 163.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 152.19447330222795, + 162.1110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 154.79254951358126, + 160.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 157.39062572493458, + 159.1110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 159.9887019362879, + 157.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 162.5867781476412, + 156.1110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 165.18485435899453, + 154.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 167.78293057034784, + 153.1110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 172.00853967666626, + 151.80226211547853, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 170.38100678170116, + 151.6110480849635, + -22.327391261092398 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 170.38100678170116, + 151.6110480849635, + -22.327391261092398 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 170.38100678170116, + 151.6110480849635, + -22.327391261092398 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 170.38100678170116, + 151.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 170.38100678170116, + 148.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 170.38100678170116, + 145.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 170.38100678170116, + 142.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 170.38100678170116, + 139.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 170.38100678170116, + 136.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 170.38100678170116, + 133.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 170.38100678170116, + 130.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 170.38100678170116, + 127.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 170.38100678170116, + 124.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 170.38100678170116, + 121.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 170.38100678170116, + 118.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 170.38100678170116, + 115.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 170.38100678170116, + 112.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 170.38100678170116, + 109.6110480849635, + -22.327391261092398 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 170.38100678170116, + 109.6110480849635, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 168.88100678170116, + 107.01297187361018, + -22.327391261092398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 167.38100678170116, + 104.41489566225687, + -22.327391261092398 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 165.80752325057983, + 103.6218903541565, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-39-13_253674535/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-39-13_253674535/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a829913917bd91737e7a76c842125cb8f5ce53c --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-39-13_253674535/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -76.30859625717592, + 161.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -76.30859625717592, + 164.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -76.30859625717592, + 167.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -76.30859625717592, + 170.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -76.30859625717592, + 173.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -76.30859625717592, + 176.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -76.30859625717592, + 179.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -76.30859625717592, + 182.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -76.30859625717592, + 185.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -76.30859625717592, + 188.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -76.30859625717592, + 191.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -76.30859625717592, + 194.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -76.30859625717592, + 197.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -76.30859625717592, + 200.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -76.30859625717592, + 203.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -76.30859625717592, + 206.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -76.30859625717592, + 209.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -76.30859625717592, + 212.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -76.30859625717592, + 215.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -76.30859625717592, + 218.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -76.30859625717592, + 221.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -78.11547446250916, + 225.18597507476807, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -76.30859625717592, + 224.19567486748593, + -21.129009769174424 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -76.30859625717592, + 224.19567486748593, + -21.129009769174424 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -76.30859625717592, + 224.19567486748593, + -21.129009769174424 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -76.30859625717592, + 224.19567486748593, + -21.129009769174424 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -76.30859625717592, + 224.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -73.30859625717592, + 224.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -70.30859625717592, + 224.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -67.30859625717592, + 224.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -64.30859625717592, + 224.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -61.30859625717592, + 224.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -58.30859625717592, + 224.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -55.30859625717592, + 224.19567486748593, + -21.129009769174424 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -55.30859625717592, + 224.19567486748593, + -21.129009769174424 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -55.30859625717592, + 224.19567486748593, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -53.80859625717592, + 221.59759865613262, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -52.30859625717592, + 218.9995224447793, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -50.80859625717592, + 216.401446233426, + -21.129009769174424 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -50.80859625717592, + 216.401446233426, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -48.210520045822605, + 214.901446233426, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -45.61244383446929, + 213.401446233426, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -43.01436762311597, + 211.901446233426, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -40.41629141176266, + 210.401446233426, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -37.81821520040934, + 208.901446233426, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -35.220138989056025, + 207.401446233426, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -32.62206277770271, + 205.901446233426, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -30.023986566349393, + 204.401446233426, + -21.129009769174424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -27.425910354996077, + 202.901446233426, + -21.129009769174424 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -24.924080467224123, + 204.11226043701174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-46-42_2094613281/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-46-42_2094613281/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c2f3e09e281c3f3f46260de3e00271a7e8326215 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-46-42_2094613281/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -53.220659236127155, + 81.28786070187395, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -54.720659236127155, + 83.88593691322727, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -56.220659236127155, + 86.48401312458058, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -57.720659236127155, + 89.0820893359339, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -59.220659236127155, + 91.68016554728722, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -60.720659236127155, + 94.27824175864053, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -62.220659236127155, + 96.87631796999385, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -63.720659236127155, + 99.47439418134717, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -65.22065923612715, + 102.07247039270048, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931935 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -66.72065923612715, + 104.6705466040538, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -68.22065923612715, + 107.26862281540711, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -69.72065923612715, + 109.86669902676043, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -71.22065923612715, + 112.46477523811375, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -72.72065923612715, + 115.06285144946706, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -74.22065923612715, + 117.66092766082038, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -75.72065923612715, + 120.2590038721737, + -22.831396421106138 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -75.72065923612715, + 120.2590038721737, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -78.31873544748046, + 121.7590038721737, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -80.91681165883378, + 123.2590038721737, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -83.5148878701871, + 124.7590038721737, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -86.11296408154041, + 126.2590038721737, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -88.71104029289373, + 127.7590038721737, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -92.16819229125977, + 132.53853549957276, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -91.30911650424704, + 129.25900387217368, + -22.831396421106138 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -91.30911650424704, + 129.25900387217368, + -22.831396421106138 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -91.30911650424704, + 129.25900387217368, + -22.831396421106138 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -91.30911650424704, + 129.25900387217368, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -91.30911650424704, + 132.25900387217368, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -91.30911650424704, + 135.25900387217368, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -91.30911650424704, + 138.25900387217368, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -91.30911650424704, + 141.25900387217368, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -91.30911650424704, + 144.25900387217368, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -91.30911650424704, + 147.25900387217368, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -91.30911650424704, + 150.25900387217368, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -91.30911650424704, + 153.25900387217368, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -91.30911650424704, + 156.25900387217368, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -91.30911650424704, + 159.25900387217368, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -91.30911650424704, + 162.25900387217368, + -22.831396421106138 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -91.30911650424704, + 162.25900387217368, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -89.80911650424704, + 164.857080083527, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -88.30911650424704, + 167.4551562948803, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -86.80911650424704, + 170.05323250623363, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -85.30911650424704, + 172.65130871758694, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -83.80911650424704, + 175.24938492894026, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -82.30911650424704, + 177.84746114029357, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -80.80911650424704, + 180.4455373516469, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -79.30911650424704, + 183.0436135630002, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -77.80911650424704, + 185.64168977435352, + -22.831396421106138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -76.30911650424704, + 188.23976598570684, + -22.831396421106138 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -75.5195812702179, + 191.94742860794068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-5-58_1933084303/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-5-58_1933084303/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6672fb05efdf190963bb111df0514f593f3358ab --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-5-58_1933084303/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -80.12828827125944, + 292.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -80.12828827125944, + 289.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -80.12828827125944, + 286.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -80.12828827125944, + 283.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -80.12828827125944, + 280.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -80.12828827125944, + 277.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -80.12828827125944, + 274.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -80.12828827125944, + 271.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -80.12828827125944, + 268.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -80.12828827125944, + 265.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -80.12828827125944, + 262.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -80.12828827125944, + 259.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -80.12828827125944, + 256.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -80.12828827125944, + 253.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -80.12828827125944, + 250.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -80.12828827125944, + 247.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -80.12828827125944, + 244.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -80.12828827125944, + 241.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -80.12828827125944, + 238.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -80.12828827125944, + 235.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -80.12828827125944, + 232.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -80.12828827125944, + 229.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -78.11547446250916, + 225.18597507476807, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -80.12828827125944, + 226.917798381916, + -17.475550271327588 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -80.12828827125944, + 226.917798381916, + -17.475550271327588 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -80.12828827125944, + 226.917798381916, + -17.475550271327588 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -80.12828827125944, + 226.917798381916, + -17.475550271327588 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -80.12828827125944, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -77.12828827125944, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -74.12828827125944, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -71.12828827125944, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -68.12828827125944, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -65.12828827125944, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -62.128288271259436, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -59.128288271259436, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -56.128288271259436, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -53.128288271259436, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -50.128288271259436, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -47.128288271259436, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -44.128288271259436, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -41.128288271259436, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -38.128288271259436, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -35.128288271259436, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -32.128288271259436, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -29.128288271259436, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -26.128288271259436, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -23.128288271259436, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -20.128288271259436, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -17.128288271259436, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -14.128288271259436, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -11.128288271259436, + 226.917798381916, + -17.475550271327588 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -11.128288271259436, + 226.917798381916, + -17.475550271327588 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -11.128288271259436, + 226.917798381916, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -9.628288271259436, + 229.5158745932693, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -8.128288271259436, + 232.11395080462262, + -17.475550271327588 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -6.628288271259436, + 234.71202701597593, + -17.475550271327588 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.054965496063232, + 237.79356269836427, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-51-48_1353825800/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-51-48_1353825800/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ceb321bf1aab3dbee5b7b88241eedd9b2f775dad --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-51-48_1353825800/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 28.538118250864684, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 31.538118250864684, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 34.538118250864684, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 37.538118250864684, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 40.538118250864684, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 43.538118250864684, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 46.538118250864684, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 49.538118250864684, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 52.538118250864684, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 55.538118250864684, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 58.538118250864684, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 61.538118250864684, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 64.53811825086468, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 67.53811825086468, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 70.53811825086468, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 73.53811825086468, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 76.53811825086468, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 79.53811825086468, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 82.53811825086468, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 85.53811825086468, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 88.53811825086468, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 91.53811825086468, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 94.53811825086468, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 97.53811825086468, + 191.54500636829312, + -16.03651379063176 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 97.53811825086468, + 191.54500636829312, + -16.03651379063176 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 97.53811825086468, + 191.54500636829312, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 101.93407335281373, + 187.48899812698366, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 99.03811825086468, + 188.9469301569398, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 100.53811825086468, + 186.34885394558648, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 102.03811825086468, + 183.75077773423317, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 103.53811825086468, + 181.15270152287985, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 105.03811825086468, + 178.55462531152654, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 106.53811825086468, + 175.95654910017322, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 108.03811825086468, + 173.3584728888199, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 109.53811825086468, + 170.7603966774666, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 111.03811825086468, + 168.16232046611327, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 112.53811825086468, + 165.56424425475996, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 114.03811825086468, + 162.96616804340664, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 115.53811825086468, + 160.36809183205332, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 117.03811825086468, + 157.7700156207, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 118.53811825086468, + 155.1719394093467, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 120.03811825086468, + 152.57386319799338, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 121.53811825086468, + 149.97578698664006, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 123.03811825086468, + 147.37771077528674, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 124.53811825086468, + 144.77963456393343, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 126.03811825086468, + 142.1815583525801, + -16.03651379063176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 127.53811825086468, + 139.5834821412268, + -16.03651379063176 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 126.12591409683228, + 137.03480195999146, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-59-38_523782140/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-59-38_523782140/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e84cd70ad50875a87dabe4d265f544620415101 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-59-38_523782140/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 175.47998314703736, + 303.6365348199309, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 173.97998314703736, + 306.2346110312842, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 172.47998314703736, + 308.8326872426375, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 170.97998314703736, + 311.43076345399083, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 169.47998314703736, + 314.02883966534415, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 167.97998314703736, + 316.62691587669747, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 166.47998314703736, + 319.2249920880508, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 164.97998314703736, + 321.8230682994041, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 163.47998314703736, + 324.4211445107574, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 161.97998314703736, + 327.01922072211073, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 160.47998314703736, + 329.61729693346405, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 158.97998314703736, + 332.21537314481736, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 157.47998314703736, + 334.8134493561707, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 155.97998314703736, + 337.411525567524, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 154.47998314703736, + 340.0096017788773, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 152.97998314703736, + 342.6076779902306, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 151.47998314703736, + 345.20575420158394, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 149.97998314703736, + 347.80383041293726, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 145.60676317214967, + 352.5146116256714, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 148.47998314703736, + 350.4019066242906, + -15.353345449094032 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 148.47998314703736, + 350.4019066242906, + -15.353345449094032 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 148.47998314703736, + 350.4019066242906, + -15.353345449094032 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 148.47998314703736, + 350.4019066242906, + -15.353345449094032 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 148.47998314703736, + 350.4019066242906, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 151.07805935839068, + 351.9019066242906, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 153.676135569744, + 353.4019066242906, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 156.2742117810973, + 354.9019066242906, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 158.87228799245062, + 356.4019066242906, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 161.47036420380394, + 357.9019066242906, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 164.06844041515726, + 359.4019066242906, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 166.66651662651057, + 360.9019066242906, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 169.2645928378639, + 362.4019066242906, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 171.8626690492172, + 363.9019066242906, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 174.46074526057052, + 365.4019066242906, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 177.05882147192384, + 366.9019066242906, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 179.65689768327715, + 368.4019066242906, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 182.25497389463047, + 369.9019066242906, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 184.85305010598378, + 371.4019066242906, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 187.4511263173371, + 372.9019066242906, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 190.04920252869042, + 374.4019066242906, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 192.64727874004373, + 375.9019066242906, + -15.353345449094032 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 195.24535495139705, + 377.4019066242906, + -15.353345449094032 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 196.98235359191895, + 377.73239974975587, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-9-37_2078480869/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-9-37_2078480869/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d46baa028315fe33842c2b8678bde45c2843c642 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_12-9-37_2078480869/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -103.65306561779414, + 245.9069675873921, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -102.15306561779414, + 243.3088913760388, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -100.65306561779414, + 240.71081516468547, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -99.15306561779414, + 238.11273895333215, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -97.65306561779414, + 235.51466274197884, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -96.15306561779414, + 232.91658653062552, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -94.65306561779414, + 230.3185103192722, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -93.15306561779414, + 227.7204341079189, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -91.65306561779414, + 225.12235789656557, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -90.15306561779414, + 222.52428168521226, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -88.65306561779414, + 219.92620547385894, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -87.15306561779414, + 217.32812926250563, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -85.65306561779414, + 214.7300530511523, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -84.15306561779414, + 212.131976839799, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -82.65306561779414, + 209.53390062844568, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -81.15306561779414, + 206.93582441709236, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -79.65306561779414, + 204.33774820573905, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -78.15306561779414, + 201.73967199438573, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -76.65306561779414, + 199.14159578303241, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -75.15306561779414, + 196.5435195716791, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -75.5195812702179, + 191.94742860794068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -73.65306561779414, + 193.94544336032578, + -19.92923900069355 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -73.65306561779414, + 193.94544336032578, + -19.92923900069355 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -73.65306561779414, + 193.94544336032578, + -19.92923900069355 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -73.65306561779414, + 193.94544336032578, + -19.92923900069355 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -73.65306561779414, + 193.94544336032578, + -19.92923900069355 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -73.65306561779414, + 193.94544336032578, + -19.92923900069355 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948961 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -73.65306561779414, + 193.94544336032578, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -73.65306561779414, + 196.94544336032578, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -73.65306561779414, + 199.94544336032578, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -73.65306561779414, + 202.94544336032578, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -73.65306561779414, + 205.94544336032578, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -73.65306561779414, + 208.94544336032578, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -73.65306561779414, + 211.94544336032578, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -73.65306561779414, + 214.94544336032578, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -73.65306561779414, + 217.94544336032578, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -73.65306561779414, + 220.94544336032578, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -73.65306561779414, + 223.94544336032578, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -73.65306561779414, + 226.94544336032578, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -73.65306561779414, + 229.94544336032578, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -73.65306561779414, + 232.94544336032578, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -73.65306561779414, + 235.94544336032578, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -73.65306561779414, + 238.94544336032578, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -73.65306561779414, + 241.94544336032578, + -19.92923900069355 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -73.65306561779414, + 241.94544336032578, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -72.15306561779414, + 244.5435195716791, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -70.65306561779414, + 247.14159578303241, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -69.15306561779414, + 249.73967199438573, + -19.92923900069355 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -67.65306561779414, + 252.33774820573905, + -19.92923900069355 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -66.18976526260376, + 252.47785472869873, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_13-34-46_1810713171/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_13-34-46_1810713171/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7643265bd5c06bea3dfe6739a76e68ae1d02c473 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_13-34-46_1810713171/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 54.48837473503112, + 140.98525176913296, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 57.08645094638444, + 142.48525176913296, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 59.684527157737755, + 143.98525176913296, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 62.28260336909107, + 145.48525176913296, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 64.8806795804444, + 146.98525176913296, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982977 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 67.47875579179771, + 148.48525176913296, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 70.07683200315103, + 149.98525176913296, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 72.67490821450434, + 151.48525176913296, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 75.27298442585766, + 152.98525176913296, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 77.87106063721097, + 154.48525176913296, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 80.46913684856429, + 155.98525176913296, + -15.494534391961036 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 80.46913684856429, + 155.98525176913296, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 81.96913684856429, + 158.58332798048627, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 83.46913684856429, + 161.1814041918396, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 84.96913684856429, + 163.7794804031929, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 86.46913684856429, + 166.37755661454622, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 87.96913684856429, + 168.97563282589954, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 89.46913684856429, + 171.57370903725285, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 90.96913684856429, + 174.17178524860617, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 92.46913684856429, + 176.7698614599595, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 93.96913684856429, + 179.3679376713128, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 95.46913684856429, + 181.96601388266612, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 96.96913684856429, + 184.56409009401943, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 101.93407335281373, + 187.48899812698366, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 98.46913684856429, + 187.16216630537275, + -15.494534391961036 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 98.46913684856429, + 187.16216630537275, + -15.494534391961036 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 98.46913684856429, + 187.16216630537275, + -15.494534391961036 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 98.46913684856429, + 187.16216630537275, + -15.494534391961036 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 98.46913684856429, + 187.16216630537275, + -15.494534391961036 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 98.46913684856429, + 187.16216630537275, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 99.96913684856429, + 184.56409009401943, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 101.46913684856429, + 181.96601388266612, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 102.96913684856429, + 179.3679376713128, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 104.46913684856429, + 176.7698614599595, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 105.96913684856429, + 174.17178524860617, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 107.46913684856429, + 171.57370903725285, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 108.96913684856429, + 168.97563282589954, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 110.46913684856429, + 166.37755661454622, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 111.96913684856429, + 163.7794804031929, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 113.46913684856429, + 161.1814041918396, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 114.96913684856429, + 158.58332798048627, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 116.46913684856429, + 155.98525176913296, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 117.96913684856429, + 153.38717555777964, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 119.46913684856429, + 150.78909934642633, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 120.96913684856429, + 148.191023135073, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 122.46913684856429, + 145.5929469237197, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 123.96913684856429, + 142.99487071236638, + -15.494534391961036 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 125.46913684856429, + 140.39679450101306, + -15.494534391961036 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 126.12591409683228, + 137.03480195999146, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_13-38-49_296528780/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_13-38-49_296528780/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..172a9ca3e8259df554eac4221c877ce3dfe00b0d --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_13-38-49_296528780/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -426.3302461195973, + 307.6584437348107, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -424.8302461195973, + 305.0603675234574, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -423.3302461195973, + 302.46229131210407, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -421.8302461195973, + 299.86421510075076, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -420.3302461195973, + 297.26613888939744, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -418.8302461195973, + 294.6680626780441, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -417.3302461195973, + 292.0699864666908, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -415.8302461195973, + 289.4719102553375, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -414.3302461195973, + 286.8738340439842, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -412.8302461195973, + 284.27575783263086, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -411.3302461195973, + 281.67768162127754, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -409.8302461195973, + 279.0796054099242, + -23.229455936558033 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -409.8302461195973, + 279.0796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -407.232169908244, + 277.5796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -404.63409369689066, + 276.0796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -402.03601748553734, + 274.5796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -399.437941274184, + 273.0796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -396.8398650628307, + 271.5796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -394.2417888514774, + 270.0796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -391.6437126401241, + 268.5796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -389.04563642877076, + 267.0796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -386.44756021741745, + 265.5796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -382.8172357559204, + 262.51546230316166, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -383.84948400606413, + 264.0796054099242, + -23.229455936558033 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -383.84948400606413, + 264.0796054099242, + -23.229455936558033 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -383.84948400606413, + 264.0796054099242, + -23.229455936558033 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -383.84948400606413, + 264.0796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -381.2514077947108, + 265.5796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -378.6533315833575, + 267.0796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -376.0552553720042, + 268.5796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -373.45717916065087, + 270.0796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -370.85910294929755, + 271.5796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -368.26102673794423, + 273.0796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -365.6629505265909, + 274.5796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -363.0648743152376, + 276.0796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -360.4667981038843, + 277.5796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -357.86872189253097, + 279.0796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -355.27064568117765, + 280.5796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -352.67256946982434, + 282.0796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -350.074493258471, + 283.5796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -347.4764170471177, + 285.0796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -344.8783408357644, + 286.5796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -342.2802646244111, + 288.0796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -339.68218841305776, + 289.5796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -337.08411220170444, + 291.0796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -334.4860359903511, + 292.5796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -331.8879597789978, + 294.0796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -329.2898835676445, + 295.5796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -326.6918073562912, + 297.0796054099242, + -23.229455936558033 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -324.09373114493786, + 298.5796054099242, + -23.229455936558033 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -321.15925178527834, + 299.0595897674561, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_13-50-4_405201937/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_13-50-4_405201937/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..36d31975dd97de96a11212ebb28a8e69d099d370 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_13-50-4_405201937/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -8.66755118324923, + 288.6375923404558, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -8.66755118324923, + 285.6375923404558, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -8.66755118324923, + 282.6375923404558, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -8.66755118324923, + 279.6375923404558, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -8.66755118324923, + 276.6375923404558, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -8.66755118324923, + 273.6375923404558, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -8.66755118324923, + 270.6375923404558, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -8.66755118324923, + 267.6375923404558, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -8.66755118324923, + 264.6375923404558, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -8.66755118324923, + 261.6375923404558, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -8.66755118324923, + 258.6375923404558, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -8.66755118324923, + 255.6375923404558, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -8.66755118324923, + 252.6375923404558, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -8.66755118324923, + 249.6375923404558, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -8.66755118324923, + 246.6375923404558, + -22.60122818173999 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -8.66755118324923, + 246.6375923404558, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -7.1675511832492305, + 244.03951612910248, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.054965496063232, + 237.79356269836427, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -5.6675511832492305, + 241.44143991774916, + -22.60122818173999 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -5.6675511832492305, + 241.44143991774916, + -22.60122818173999 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -5.6675511832492305, + 241.44143991774916, + -22.60122818173999 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -5.6675511832492305, + 241.44143991774916, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -8.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -11.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -14.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -17.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -20.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -23.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -26.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -29.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -32.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -35.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -38.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -41.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -44.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -47.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -50.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -53.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -56.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -59.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -62.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -62.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -62.66755118324923, + 241.44143991774916, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -64.16755118324923, + 238.84336370639585, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -65.66755118324923, + 236.24528749504253, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -67.16755118324923, + 233.64721128368922, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -68.66755118324923, + 231.0491350723359, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -70.16755118324923, + 228.45105886098258, + -22.60122818173999 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -70.16755118324923, + 228.45105886098258, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -72.76562739460255, + 226.95105886098258, + -22.60122818173999 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -75.36370360595586, + 225.45105886098258, + -22.60122818173999 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -78.11547446250916, + 225.18597507476807, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_14-16-9_346502533/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_14-16-9_346502533/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ccef026fcf0e84e99bda0f5e26a0636c28d265d7 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_14-16-9_346502533/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -31.211299931737578, + 198.19011234634036, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -32.71129993173758, + 200.78818855769367, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -34.21129993173758, + 203.386264769047, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -35.71129993173758, + 205.9843409804003, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -37.21129993173758, + 208.58241719175362, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -38.71129993173758, + 211.18049340310694, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -40.21129993173758, + 213.77856961446025, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -41.71129993173758, + 216.37664582581357, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -43.21129993173758, + 218.97472203716688, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -44.71129993173758, + 221.5727982485202, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -46.21129993173758, + 224.17087445987352, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -47.71129993173758, + 226.76895067122683, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -49.21129993173758, + 229.36702688258015, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -50.71129993173758, + 231.96510309393346, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -52.21129993173758, + 234.56317930528678, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -53.71129993173758, + 237.1612555166401, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -55.21129993173758, + 239.7593317279934, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -56.71129993173758, + 242.35740793934673, + -17.282701204532472 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -56.71129993173758, + 242.35740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -59.309376143090894, + 243.85740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -61.90745235444421, + 245.35740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -64.50552856579753, + 246.85740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -68.07784786224366, + 251.98643093109132, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -67.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -67.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393197 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -67.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948981 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -67.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965992 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -67.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983005 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -67.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "turn right", + "value": 30, + "yaw": 1.7763568394002505e-15 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -67.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -64.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -61.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -58.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -55.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -52.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -49.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -46.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -43.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -40.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -37.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -34.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -31.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -28.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -25.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -25.10360477715085, + 248.35740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -22.505528565797533, + 249.85740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -19.907452354444217, + 251.35740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -17.3093761430909, + 252.85740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -14.711299931737585, + 254.35740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -12.11322372038427, + 255.85740793934673, + -17.282701204532472 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -12.11322372038427, + 255.85740793934673, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -10.61322372038427, + 258.45548415070004, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -9.11322372038427, + 261.05356036205336, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -7.613223720384269, + 263.6516365734067, + -17.282701204532472 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -6.113223720384269, + 266.24971278476, + -17.282701204532472 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -4.862148499488831, + 268.6817756652832, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_14-28-12_914600930/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_14-28-12_914600930/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..008c21bbed281e40b1d386faceb96dab332f34d9 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_14-28-12_914600930/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -40.56275176807857, + 462.09485314488296, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -39.06275176807857, + 459.49677693352965, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -37.56275176807857, + 456.89870072217633, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -36.06275176807857, + 454.300624510823, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -34.56275176807857, + 451.7025482994697, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -33.06275176807857, + 449.1044720881164, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -31.56275176807857, + 446.50639587676307, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -30.06275176807857, + 443.90831966540975, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -28.56275176807857, + 441.31024345405643, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -27.06275176807857, + 438.7121672427031, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -25.56275176807857, + 436.1140910313498, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -24.06275176807857, + 433.5160148199965, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -22.56275176807857, + 430.91793860864317, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -21.06275176807857, + 428.31986239728985, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -19.56275176807857, + 425.72178618593654, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -18.06275176807857, + 423.1237099745832, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -16.56275176807857, + 420.5256337632299, + -23.463165179374908 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -16.56275176807857, + 420.5256337632299, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -13.964675556725254, + 419.0256337632299, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -11.366599345371938, + 417.5256337632299, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -8.768523134018622, + 416.0256337632299, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.251102495193482, + 412.3764583587647, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -6.170446922665306, + 414.5256337632299, + -23.463165179374908 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -6.170446922665306, + 414.5256337632299, + -23.463165179374908 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -6.170446922665306, + 414.5256337632299, + -23.463165179374908 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -6.170446922665306, + 414.5256337632299, + -23.463165179374908 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -6.170446922665306, + 414.5256337632299, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -4.670446922665306, + 417.1237099745832, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -3.1704469226653056, + 419.72178618593654, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1.6704469226653051, + 422.31986239728985, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -0.1704469226653047, + 424.91793860864317, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1.3295530773346957, + 427.5160148199965, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2.829553077334696, + 430.1140910313498, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4.329553077334697, + 432.7121672427031, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 5.8295530773346975, + 435.31024345405643, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 7.3295530773346975, + 437.90831966540975, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 8.829553077334698, + 440.50639587676307, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 10.329553077334698, + 443.1044720881164, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 11.829553077334698, + 445.7025482994697, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 13.329553077334698, + 448.300624510823, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 14.829553077334698, + 450.89870072217633, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 16.329553077334698, + 453.49677693352965, + -23.463165179374908 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 16.329553077334698, + 453.49677693352965, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 16.329553077334698, + 456.49677693352965, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 16.329553077334698, + 459.49677693352965, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 16.329553077334698, + 462.49677693352965, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 16.329553077334698, + 465.49677693352965, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 16.329553077334698, + 468.49677693352965, + -23.463165179374908 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 16.329553077334698, + 471.49677693352965, + -23.463165179374908 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 17.448638093471526, + 473.35583000183107, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_14-33-43_1470796522/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_14-33-43_1470796522/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..37ea9e2afd6770894666add3e2cb39453ac00d9a --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_14-33-43_1470796522/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -19.702286030442487, + -37.07968757919561, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -17.10420981908917, + -35.57968757919561, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -14.506133607735855, + -34.07968757919561, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -11.908057396382539, + -32.57968757919561, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -9.309981185029223, + -31.079687579195607, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -6.711904973675907, + -29.579687579195607, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -4.113828762322591, + -28.079687579195607, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1.5157525509692746, + -26.579687579195607, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1.0823236603840414, + -25.079687579195607, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 3.6803998717373574, + -23.579687579195607, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 6.278476083090673, + -22.079687579195607, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 8.87655229444399, + -20.579687579195607, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 11.474628505797305, + -19.079687579195607, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 14.072704717150621, + -17.579687579195607, + -21.15521734803585 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 14.072704717150621, + -17.579687579195607, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 15.572704717150621, + -14.98161136784229, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 17.07270471715062, + -12.383535156488975, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 20.778573703765872, + -6.891405725479126, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 18.57270471715062, + -9.785458945135659, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 20.07270471715062, + -7.187382733782343, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 21.57270471715062, + -4.589306522429027, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 23.07270471715062, + -1.9912303110757108, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 24.57270471715062, + 0.6068459002776052, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 26.07270471715062, + 3.2049221116309212, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 27.57270471715062, + 5.802998322984237, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 29.07270471715062, + 8.401074534337553, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 30.57270471715062, + 10.99915074569087, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 32.07270471715062, + 13.597226957044185, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 33.57270471715062, + 16.1953031683975, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 35.07270471715062, + 18.793379379750817, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 36.57270471715062, + 21.391455591104133, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 38.07270471715062, + 23.98953180245745, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 39.57270471715062, + 26.587608013810765, + -21.15521734803585 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 39.57270471715062, + 26.587608013810765, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 39.57270471715062, + 29.587608013810765, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 39.57270471715062, + 32.587608013810765, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 39.57270471715062, + 35.587608013810765, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 39.57270471715062, + 38.587608013810765, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 39.57270471715062, + 41.587608013810765, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 39.57270471715062, + 44.587608013810765, + -21.15521734803585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 39.57270471715062, + 47.587608013810765, + -21.15521734803585 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 38.59305419921875, + 50.505572175979616, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_15-22-30_202019540/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_15-22-30_202019540/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..743483623776b08348423d03ab85305997f4dbad --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_15-22-30_202019540/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -138.70814144162702, + 260.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -135.70814144162702, + 260.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -132.70814144162702, + 260.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -129.70814144162702, + 260.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -126.70814144162702, + 260.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -123.70814144162702, + 260.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -120.70814144162702, + 260.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -117.70814144162702, + 260.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -114.70814144162702, + 260.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -111.70814144162702, + 260.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -108.70814144162702, + 260.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -105.70814144162702, + 260.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -102.70814144162702, + 260.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -99.70814144162702, + 260.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -96.70814144162702, + 260.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -93.70814144162702, + 260.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -90.70814144162702, + 260.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -87.70814144162702, + 260.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -84.70814144162702, + 260.88428330578637, + -15.71296089877157 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -84.70814144162702, + 260.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -82.1100652302737, + 259.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -79.51198901892039, + 257.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -76.91391280756707, + 256.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -74.31583659621376, + 254.88428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -68.07784786224366, + 251.98643093109132, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -71.71776038486044, + 253.38428330578637, + -15.71296089877157 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -71.71776038486044, + 253.38428330578637, + -15.71296089877157 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -71.71776038486044, + 253.38428330578637, + -15.71296089877157 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -71.71776038486044, + 253.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -71.71776038486044, + 250.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -71.71776038486044, + 247.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -71.71776038486044, + 244.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -71.71776038486044, + 241.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -71.71776038486044, + 238.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -71.71776038486044, + 235.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -71.71776038486044, + 232.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -71.71776038486044, + 229.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -71.71776038486044, + 226.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -71.71776038486044, + 223.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -71.71776038486044, + 220.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -71.71776038486044, + 217.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -71.71776038486044, + 214.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -71.71776038486044, + 211.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -71.71776038486044, + 208.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -71.71776038486044, + 205.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -71.71776038486044, + 202.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -71.71776038486044, + 199.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -71.71776038486044, + 196.38428330578637, + -15.71296089877157 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -71.71776038486044, + 196.38428330578637, + -15.71296089877157 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -71.71776038486044, + 196.38428330578637, + -15.71296089877157 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -74.31583659621376, + 194.88428330578637, + -15.71296089877157 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -75.5195812702179, + 191.94742860794068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_15-30-40_1752327934/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_15-30-40_1752327934/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3afcdc3887941866aa71fb7e8f8fb2478cc49cef --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_15-30-40_1752327934/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -11.814577303840908, + 352.8032089158407, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -11.814577303840908, + 355.8032089158407, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -11.814577303840908, + 358.8032089158407, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -11.814577303840908, + 361.8032089158407, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -11.814577303840908, + 364.8032089158407, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -11.814577303840908, + 367.8032089158407, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -11.814577303840908, + 370.8032089158407, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -11.814577303840908, + 373.8032089158407, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -11.814577303840908, + 376.8032089158407, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -11.814577303840908, + 379.8032089158407, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -11.814577303840908, + 382.8032089158407, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -11.814577303840908, + 385.8032089158407, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -11.814577303840908, + 388.8032089158407, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -11.814577303840908, + 391.8032089158407, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -11.814577303840908, + 394.8032089158407, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -11.814577303840908, + 397.8032089158407, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -11.814577303840908, + 400.8032089158407, + -24.44989160584835 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -11.814577303840908, + 400.8032089158407, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -10.314577303840908, + 403.401285127194, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -8.814577303840908, + 405.9993613385473, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -7.314577303840908, + 408.59743754990063, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.251102495193482, + 412.3764583587647, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -5.814577303840908, + 411.19551376125395, + -24.44989160584835 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -5.814577303840908, + 411.19551376125395, + -24.44989160584835 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -5.814577303840908, + 411.19551376125395, + -24.44989160584835 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -5.814577303840908, + 411.19551376125395, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -2.814577303840908, + 411.19551376125395, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 0.18542269615909213, + 411.19551376125395, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 3.185422696159092, + 411.19551376125395, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 6.185422696159092, + 411.19551376125395, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 9.185422696159092, + 411.19551376125395, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 12.185422696159092, + 411.19551376125395, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 15.185422696159092, + 411.19551376125395, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 18.185422696159094, + 411.19551376125395, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 21.185422696159094, + 411.19551376125395, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 24.185422696159094, + 411.19551376125395, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 27.185422696159094, + 411.19551376125395, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 30.185422696159094, + 411.19551376125395, + -24.44989160584835 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 30.185422696159094, + 411.19551376125395, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 32.78349890751241, + 412.69551376125395, + -24.44989160584835 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 35.381575118865726, + 414.19551376125395, + -24.44989160584835 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 37.990253353118895, + 414.50321331024173, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_15-9-58_413892161/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_15-9-58_413892161/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b3888b02ac4f2a19b270b8dbaa9558840599e6c8 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_15-9-58_413892161/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -205.9773016473027, + 259.81628318632147, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -205.9773016473027, + 256.81628318632147, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -205.9773016473027, + 253.81628318632147, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -205.9773016473027, + 250.81628318632147, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -205.9773016473027, + 247.81628318632147, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -205.9773016473027, + 244.81628318632147, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -205.9773016473027, + 241.81628318632147, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -205.9773016473027, + 238.81628318632147, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -205.9773016473027, + 235.81628318632147, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -205.9773016473027, + 232.81628318632147, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -205.9773016473027, + 229.81628318632147, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -205.9773016473027, + 226.81628318632147, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -205.9773016473027, + 223.81628318632147, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -205.9773016473027, + 220.81628318632147, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -205.9773016473027, + 217.81628318632147, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -205.9773016473027, + 214.81628318632147, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -205.9773016473027, + 211.81628318632147, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -205.9773016473027, + 208.81628318632147, + -16.0025776379699 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -205.9773016473027, + 208.81628318632147, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -204.4773016473027, + 206.21820697496815, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -202.9773016473027, + 203.62013076361484, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -201.4773016473027, + 201.02205455226152, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -199.9773016473027, + 198.4239783409082, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -198.4773016473027, + 195.8259021295549, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -196.9773016473027, + 193.22782591820157, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -194.09811801910402, + 186.82536544799805, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -195.4773016473027, + 190.62974970684826, + -16.0025776379699 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -195.4773016473027, + 190.62974970684826, + -16.0025776379699 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -195.4773016473027, + 190.62974970684826, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -192.8792254359494, + 189.12974970684826, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -190.28114922459608, + 187.62974970684826, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -187.68307301324276, + 186.12974970684826, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -185.08499680188945, + 184.62974970684826, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -182.48692059053613, + 183.12974970684826, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -179.8888443791828, + 181.62974970684826, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -177.2907681678295, + 180.12974970684826, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -174.69269195647618, + 178.62974970684826, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -172.09461574512287, + 177.12974970684826, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -169.49653953376955, + 175.62974970684826, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -166.89846332241623, + 174.12974970684826, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -164.30038711106292, + 172.62974970684826, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -161.7023108997096, + 171.12974970684826, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -159.10423468835629, + 169.62974970684826, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -156.50615847700297, + 168.12974970684826, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -153.90808226564965, + 166.62974970684826, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -151.31000605429634, + 165.12974970684826, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -148.71192984294302, + 163.62974970684826, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -146.1138536315897, + 162.12974970684826, + -16.0025776379699 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -146.1138536315897, + 162.12974970684826, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -144.6138536315897, + 159.53167349549494, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -143.1138536315897, + 156.93359728414163, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -141.6138536315897, + 154.3355210727883, + -16.0025776379699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -140.1138536315897, + 151.737444861435, + -16.0025776379699 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -139.05165119171144, + 149.82844924926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_2-32-35_1307565984/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_2-32-35_1307565984/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d484112b8165f8246f3ac6cecf7b73afac40b2f --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_2-32-35_1307565984/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -116.14422303193405, + 285.1396934736387, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -114.64422303193405, + 282.5416172622854, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -113.14422303193405, + 279.9435410509321, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -111.64422303193405, + 277.34546483957877, + -21.808776230759037 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -111.64422303193405, + 277.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -109.04614682058073, + 275.84546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -106.44807060922741, + 274.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -103.8499943978741, + 272.84546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -101.25191818652078, + 271.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -98.65384197516747, + 269.84546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -96.05576576381415, + 268.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -93.45768955246083, + 266.84546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -90.85961334110752, + 265.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -88.2615371297542, + 263.84546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -85.66346091840089, + 262.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -83.06538470704757, + 260.84546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -80.46730849569425, + 259.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -77.86923228434094, + 257.84546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -75.27115607298762, + 256.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -72.6730798616343, + 254.84546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -68.07784786224366, + 251.98643093109132, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -70.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -70.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -70.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -67.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -64.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -61.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -58.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -55.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -52.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -49.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -46.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -43.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -40.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -37.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -34.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -31.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -28.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -25.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -22.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -22.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -22.07500365028099, + 253.34546483957877, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -20.57500365028099, + 255.94354105093208, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -19.07500365028099, + 258.5416172622854, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -17.57500365028099, + 261.1396934736387, + -21.808776230759037 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -17.57500365028099, + 261.1396934736387, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -14.976927438927675, + 262.6396934736387, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -12.378851227574359, + 264.1396934736387, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -9.780775016221043, + 265.6396934736387, + -21.808776230759037 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -7.1826988048677265, + 267.1396934736387, + -21.808776230759037 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -4.862148499488831, + 268.6817756652832, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_2-34-50_1389867269/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_2-34-50_1389867269/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..073aea16a4232df1c4eb88cdb243d1bfc89c8c89 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_2-34-50_1389867269/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 130.4537312099968, + 142.0264736528833, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 130.4537312099968, + 139.0264736528833, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 130.4537312099968, + 136.0264736528833, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 130.4537312099968, + 133.0264736528833, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 130.4537312099968, + 130.0264736528833, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 130.4537312099968, + 127.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 130.4537312099968, + 124.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 130.4537312099968, + 121.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 130.4537312099968, + 118.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 130.4537312099968, + 115.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 130.4537312099968, + 112.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 130.4537312099968, + 109.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 130.4537312099968, + 106.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 130.4537312099968, + 103.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 130.4537312099968, + 100.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 130.4537312099968, + 97.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 130.4537312099968, + 94.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 130.4537312099968, + 91.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 130.4537312099968, + 88.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 131.85336561203005, + 81.29258055686951, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 130.4537312099968, + 85.02647365288331, + -17.907250662628584 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 130.4537312099968, + 85.02647365288331, + -17.907250662628584 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 130.4537312099968, + 85.02647365288331, + -17.907250662628584 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 130.4537312099968, + 85.02647365288331, + -17.907250662628584 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 130.4537312099968, + 85.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 133.4537312099968, + 85.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 136.4537312099968, + 85.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 139.4537312099968, + 85.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 142.4537312099968, + 85.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 145.4537312099968, + 85.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 148.4537312099968, + 85.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 151.4537312099968, + 85.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 154.4537312099968, + 85.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 157.4537312099968, + 85.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 160.4537312099968, + 85.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 163.4537312099968, + 85.02647365288331, + -17.907250662628584 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 163.4537312099968, + 85.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 166.0518074213501, + 83.52647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 168.64988363270342, + 82.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 171.24795984405674, + 80.52647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 173.84603605541005, + 79.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 176.44411226676337, + 77.52647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 179.04218847811669, + 76.02647365288331, + -17.907250662628584 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 181.64026468947, + 74.52647365288331, + -17.907250662628584 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 184.7513246536255, + 73.33496251106263, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_2-50-44_1858721860/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_2-50-44_1858721860/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5c953ea872919e86e5924ee83a3ed4928deea5ac --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_2-50-44_1858721860/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 79.62713603573424, + 133.72538582571923, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 81.12713603573424, + 136.32346203707255, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 82.62713603573424, + 138.92153824842586, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 84.12713603573424, + 141.51961445977918, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 85.62713603573424, + 144.1176906711325, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 87.12713603573424, + 146.7157668824858, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 88.62713603573424, + 149.31384309383913, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 90.12713603573424, + 151.91191930519244, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 91.62713603573424, + 154.50999551654576, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 93.12713603573424, + 157.10807172789907, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 94.62713603573424, + 159.7061479392524, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 96.12713603573424, + 162.3042241506057, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 97.62713603573424, + 164.90230036195902, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 99.12713603573424, + 167.50037657331234, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 100.62713603573424, + 170.09845278466565, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 102.12713603573424, + 172.69652899601897, + -24.151511767047854 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 102.12713603573424, + 172.69652899601897, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 102.12713603573424, + 175.69652899601897, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 102.12713603573424, + 178.69652899601897, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 102.12713603573424, + 181.69652899601897, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 101.93407335281373, + 187.48899812698366, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 102.12713603573424, + 184.69652899601897, + -24.151511767047854 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 102.12713603573424, + 184.69652899601897, + -24.151511767047854 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 102.12713603573424, + 184.69652899601897, + -24.151511767047854 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 102.12713603573424, + 184.69652899601897, + -24.151511767047854 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 102.12713603573424, + 184.69652899601897, + -24.151511767047854 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 102.12713603573424, + 184.69652899601897, + -24.151511767047854 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 102.12713603573424, + 184.69652899601897, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 103.62713603573424, + 182.09845278466565, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 105.12713603573424, + 179.50037657331234, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 106.62713603573424, + 176.90230036195902, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 108.12713603573424, + 174.3042241506057, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 109.62713603573424, + 171.7061479392524, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 111.12713603573424, + 169.10807172789907, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 112.62713603573424, + 166.50999551654576, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 114.12713603573424, + 163.91191930519244, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 115.62713603573424, + 161.31384309383913, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 117.12713603573424, + 158.7157668824858, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 118.62713603573424, + 156.1176906711325, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 120.12713603573424, + 153.51961445977918, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 121.62713603573424, + 150.92153824842586, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 123.12713603573424, + 148.32346203707255, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 124.62713603573424, + 145.72538582571923, + -24.151511767047854 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 124.62713603573424, + 145.72538582571923, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 124.62713603573424, + 142.72538582571923, + -24.151511767047854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 124.62713603573424, + 139.72538582571923, + -24.151511767047854 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 126.12591409683228, + 137.03480195999146, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_2-58-52_1676902021/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_2-58-52_1676902021/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80bcb1606049857f05dd1996d978587606d18ce5 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_2-58-52_1676902021/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -307.0160244916792, + 199.48199490945632, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -308.5160244916792, + 196.883918698103, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -310.0160244916792, + 194.2858424867497, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -311.5160244916792, + 191.68776627539637, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -313.0160244916792, + 189.08969006404305, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -314.5160244916792, + 186.49161385268974, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -316.0160244916792, + 183.89353764133642, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -317.5160244916792, + 181.2954614299831, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -319.0160244916792, + 178.6973852186298, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -320.5160244916792, + 176.09930900727647, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -322.0160244916792, + 173.50123279592316, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -323.5160244916792, + 170.90315658456984, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -325.0160244916792, + 168.30508037321653, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -326.5160244916792, + 165.7070041618632, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -328.0160244916792, + 163.1089279505099, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -329.5160244916792, + 160.51085173915658, + -19.411326374410407 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -329.5160244916792, + 160.51085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -329.5160244916792, + 157.51085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -329.5160244916792, + 154.51085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -329.5160244916792, + 151.51085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -329.5160244916792, + 148.51085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -329.5160244916792, + 145.51085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -332.4228313446045, + 133.30773601531982, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -329.5160244916792, + 142.51085173915658, + -19.411326374410407 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -329.5160244916792, + 142.51085173915658, + -19.411326374410407 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -329.5160244916792, + 142.51085173915658, + -19.411326374410407 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -329.5160244916792, + 142.51085173915658, + -19.411326374410407 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -329.5160244916792, + 142.51085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -326.5160244916792, + 142.51085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -323.5160244916792, + 142.51085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -320.5160244916792, + 142.51085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -317.5160244916792, + 142.51085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -314.5160244916792, + 142.51085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -311.5160244916792, + 142.51085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -308.5160244916792, + 142.51085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -305.5160244916792, + 142.51085173915658, + -19.411326374410407 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -305.5160244916792, + 142.51085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -302.9179482803259, + 141.01085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -300.3198720689726, + 139.51085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -297.72179585761927, + 138.01085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -295.12371964626595, + 136.51085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -292.52564343491264, + 135.01085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -289.9275672235593, + 133.51085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -287.329491012206, + 132.01085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -284.7314148008527, + 130.51085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -282.1333385894994, + 129.01085173915658, + -19.411326374410407 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -279.53526237814606, + 127.51085173915658, + -19.411326374410407 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -278.29589424133303, + 125.47306270599366, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_2-9-0_2058657199/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_2-9-0_2058657199/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3fe6b3577c30cbc43b7d3f9786cde68e13829e5c --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_2-9-0_2058657199/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -118.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -115.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -112.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -109.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -106.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -103.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -100.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -97.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -94.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -91.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -88.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -85.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -82.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -79.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -76.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -73.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -70.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -67.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -67.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -67.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -63.5878408908844, + 436.78047485351567, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -65.86526417145498, + 435.4150167178172, + -19.52418409803053 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -65.86526417145498, + 435.4150167178172, + -19.52418409803053 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -65.86526417145498, + 435.4150167178172, + -19.52418409803053 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -65.86526417145498, + 435.4150167178172, + -19.52418409803053 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -65.86526417145498, + 435.4150167178172, + -19.52418409803053 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -65.86526417145498, + 435.4150167178172, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -64.36526417145498, + 432.8169405064639, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -62.86526417145498, + 430.21886429511056, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -61.36526417145498, + 427.62078808375725, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -59.86526417145498, + 425.02271187240393, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -58.36526417145498, + 422.4246356610506, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -56.86526417145498, + 419.8265594496973, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -55.36526417145498, + 417.228483238344, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -53.86526417145498, + 414.63040702699067, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -52.36526417145498, + 412.03233081563735, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -50.86526417145498, + 409.43425460428404, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -49.36526417145498, + 406.8361783929307, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -47.86526417145498, + 404.2381021815774, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -46.36526417145498, + 401.6400259702241, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -44.86526417145498, + 399.04194975887077, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -43.36526417145498, + 396.44387354751746, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -41.86526417145498, + 393.84579733616414, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -40.36526417145498, + 391.2477211248108, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -38.86526417145498, + 388.6496449134575, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -37.36526417145498, + 386.0515687021042, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -35.86526417145498, + 383.4534924907509, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -34.36526417145498, + 380.85541627939756, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -32.86526417145498, + 378.25734006804424, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -31.36526417145498, + 375.6592638566909, + -19.52418409803053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -29.86526417145498, + 373.0611876453376, + -19.52418409803053 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -29.34419298171997, + 370.07065830230715, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-12-45_1415505363/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-12-45_1415505363/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a29990aceea92d1d83a6a27839aba4f9346b78f9 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-12-45_1415505363/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -76.2033746982488, + 97.25581018569937, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -77.7033746982488, + 99.85388639705269, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -79.2033746982488, + 102.451962608406, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -80.7033746982488, + 105.05003881975932, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -82.2033746982488, + 107.64811503111264, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -83.7033746982488, + 110.24619124246595, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -85.2033746982488, + 112.84426745381927, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -86.7033746982488, + 115.44234366517259, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -88.2033746982488, + 118.0404198765259, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -89.7033746982488, + 120.63849608787922, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -91.2033746982488, + 123.23657229923253, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -92.7033746982488, + 125.83464851058585, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -94.2033746982488, + 128.43272472193917, + -19.0946510178544 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -94.2033746982488, + 128.43272472193917, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -96.80145090960211, + 129.93272472193917, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -99.39952712095543, + 131.43272472193917, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -101.99760333230874, + 132.93272472193917, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -104.59567954366206, + 134.43272472193917, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -107.19375575501537, + 135.93272472193917, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -111.88605213165283, + 139.68146867752077, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -109.79183196636869, + 137.43272472193917, + -19.0946510178544 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -109.79183196636869, + 137.43272472193917, + -19.0946510178544 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -109.79183196636869, + 137.43272472193917, + -19.0946510178544 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -109.79183196636869, + 137.43272472193917, + -19.0946510178544 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -109.79183196636869, + 137.43272472193917, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -108.29183196636869, + 140.03080093329248, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -106.79183196636869, + 142.6288771446458, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -105.29183196636869, + 145.22695335599911, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -103.79183196636869, + 147.82502956735243, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -102.29183196636869, + 150.42310577870575, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -100.79183196636869, + 153.02118199005906, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -99.29183196636869, + 155.61925820141238, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -97.79183196636869, + 158.2173344127657, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -96.29183196636869, + 160.815410624119, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -94.79183196636869, + 163.41348683547233, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -93.29183196636869, + 166.01156304682564, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -91.79183196636869, + 168.60963925817896, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -90.29183196636869, + 171.20771546953227, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -88.79183196636869, + 173.8057916808856, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -87.29183196636869, + 176.4038678922389, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -85.79183196636869, + 179.00194410359222, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -84.29183196636869, + 181.60002031494554, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -82.79183196636869, + 184.19809652629885, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -81.29183196636869, + 186.79617273765217, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -79.79183196636869, + 189.3942489490055, + -19.0946510178544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -78.29183196636869, + 191.9923251603588, + -19.0946510178544 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -75.5195812702179, + 191.94742860794068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-13-16_78012497/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-13-16_78012497/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b457de0d4987878639d93447b25e6a71ee3e4ced --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-13-16_78012497/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 73.6833878166743, + 163.61322055776947, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 73.6833878166743, + 160.61322055776947, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 73.6833878166743, + 157.61322055776947, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 73.6833878166743, + 154.61322055776947, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 73.6833878166743, + 151.61322055776947, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 73.6833878166743, + 148.61322055776947, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 73.6833878166743, + 145.61322055776947, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 73.6833878166743, + 142.61322055776947, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 73.6833878166743, + 139.61322055776947, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 73.6833878166743, + 136.61322055776947, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 73.6833878166743, + 133.61322055776947, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 73.6833878166743, + 130.61322055776947, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 73.6833878166743, + 127.61322055776947, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 73.6833878166743, + 124.61322055776947, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 73.6833878166743, + 121.61322055776947, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 73.6833878166743, + 118.61322055776947, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 73.6833878166743, + 115.61322055776947, + -17.80635738466753 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 73.6833878166743, + 115.61322055776947, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 72.1833878166743, + 113.01514434641615, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 70.6833878166743, + 110.41706813506283, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 69.1833878166743, + 107.81899192370952, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 67.6833878166743, + 105.2209157123562, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 66.1833878166743, + 102.62283950100289, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 61.79868612289429, + 98.42731351852417, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 64.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 64.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 64.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 64.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 64.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 64.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 67.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 70.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 73.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 76.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 79.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 82.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 85.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 88.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 91.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 94.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 97.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 100.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 103.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 103.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 103.6833878166743, + 100.02476328964957, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 105.1833878166743, + 97.42668707829625, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 106.6833878166743, + 94.82861086694294, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 108.1833878166743, + 92.23053465558962, + -17.80635738466753 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 108.1833878166743, + 92.23053465558962, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 110.78146402802761, + 90.73053465558962, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 113.37954023938093, + 89.23053465558962, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 115.97761645073425, + 87.73053465558962, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 118.57569266208756, + 86.23053465558962, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 121.17376887344088, + 84.73053465558962, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 123.7718450847942, + 83.23053465558962, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 126.36992129614751, + 81.73053465558962, + -17.80635738466753 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 128.96799750750083, + 80.23053465558962, + -17.80635738466753 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 131.85336561203005, + 81.29258055686951, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-15-55_474613996/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-15-55_474613996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..deab86288364edb0831f6adef289c4ab8321c2d5 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-15-55_474613996/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -61.098257469339075, + 109.52861802863092, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -62.598257469339075, + 112.12669423998423, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -64.09825746933907, + 114.72477045133755, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -65.59825746933907, + 117.32284666269086, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -67.09825746933907, + 119.92092287404418, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -68.59825746933907, + 122.5189990853975, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -70.09825746933907, + 125.11707529675081, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -71.59825746933907, + 127.71515150810413, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -73.09825746933907, + 130.31322771945744, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -74.59825746933907, + 132.91130393081076, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -76.09825746933907, + 135.50938014216408, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -77.59825746933907, + 138.1074563535174, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -79.09825746933907, + 140.7055325648707, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -80.59825746933907, + 143.30360877622402, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -82.09825746933907, + 145.90168498757734, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -83.59825746933907, + 148.49976119893066, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -85.09825746933907, + 151.09783741028397, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -86.59825746933907, + 153.6959136216373, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -88.09825746933907, + 156.2939898329906, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -89.59825746933907, + 158.89206604434392, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -91.09825746933907, + 161.49014225569724, + -18.74861281123558 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -91.09825746933907, + 161.49014225569724, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -93.69633368069239, + 162.99014225569724, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -96.2944098920457, + 164.49014225569724, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -100.36164784431458, + 165.10346708297732, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -98.89248610339902, + 165.99014225569724, + -18.74861281123558 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -98.89248610339902, + 165.99014225569724, + -18.74861281123558 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -98.89248610339902, + 165.99014225569724, + -18.74861281123558 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -98.89248610339902, + 165.99014225569724, + -18.74861281123558 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -98.89248610339902, + 165.99014225569724, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -97.39248610339902, + 168.58821846705055, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -95.89248610339902, + 171.18629467840387, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -94.39248610339902, + 173.78437088975718, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -92.89248610339902, + 176.3824471011105, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -91.39248610339902, + 178.98052331246382, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -89.89248610339902, + 181.57859952381713, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -88.39248610339902, + 184.17667573517045, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -86.89248610339902, + 186.77475194652376, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -85.39248610339902, + 189.37282815787708, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -83.89248610339902, + 191.9709043692304, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -82.39248610339902, + 194.5689805805837, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -80.89248610339902, + 197.16705679193703, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -79.39248610339902, + 199.76513300329034, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -77.89248610339902, + 202.36320921464366, + -18.74861281123558 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -77.89248610339902, + 202.36320921464366, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -77.89248610339902, + 205.36320921464366, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -77.89248610339902, + 208.36320921464366, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -77.89248610339902, + 211.36320921464366, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -77.89248610339902, + 214.36320921464366, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -77.89248610339902, + 217.36320921464366, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -77.89248610339902, + 220.36320921464366, + -18.74861281123558 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -77.89248610339902, + 223.36320921464366, + -18.74861281123558 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -78.11547446250916, + 225.18597507476807, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-3-50_1023457753/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-3-50_1023457753/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f6144de4689c07df83d9dee5b858696dfccd3cc --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-3-50_1023457753/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 139.34451865028907, + -128.53596593214635, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 140.84451865028907, + -125.93788972079304, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 142.34451865028907, + -123.33981350943972, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 143.84451865028907, + -120.7417372980864, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 145.34451865028907, + -118.14366108673309, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 146.84451865028907, + -115.54558487537977, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 148.34451865028907, + -112.94750866402646, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 149.84451865028907, + -110.34943245267314, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 151.34451865028907, + -107.75135624131983, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 152.84451865028907, + -105.15328002996651, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 154.34451865028907, + -102.5552038186132, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 155.84451865028907, + -99.95712760725988, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 157.34451865028907, + -97.35905139590656, + -15.579787296705746 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 157.34451865028907, + -97.35905139590656, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 159.9425948616424, + -95.85905139590656, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 162.5406710729957, + -94.35905139590656, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 165.13874728434902, + -92.85905139590656, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 167.73682349570234, + -91.35905139590656, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 170.33489970705565, + -89.85905139590656, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 172.93297591840897, + -88.35905139590656, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 175.5310521297623, + -86.85905139590656, + -15.579787296705746 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 175.5310521297623, + -86.85905139590656, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 178.66267461776735, + -81.21840529441835, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 177.0310521297623, + -84.26097518455325, + -15.579787296705746 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 177.0310521297623, + -84.26097518455325, + -15.579787296705746 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 177.0310521297623, + -84.26097518455325, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 177.0310521297623, + -81.26097518455325, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 177.0310521297623, + -78.26097518455325, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 177.0310521297623, + -75.26097518455325, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 177.0310521297623, + -72.26097518455325, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 177.0310521297623, + -69.26097518455325, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 177.0310521297623, + -66.26097518455325, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 177.0310521297623, + -63.260975184553246, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 177.0310521297623, + -60.260975184553246, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 177.0310521297623, + -57.260975184553246, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 177.0310521297623, + -54.260975184553246, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 177.0310521297623, + -51.260975184553246, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 177.0310521297623, + -48.260975184553246, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 177.0310521297623, + -45.260975184553246, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 177.0310521297623, + -42.260975184553246, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 177.0310521297623, + -39.260975184553246, + -15.579787296705746 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 177.0310521297623, + -36.260975184553246, + -15.579787296705746 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 179.30008974075318, + -34.89918828010559, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-41-7_1407392292/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-41-7_1407392292/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f99a508e08d03ff7172faa5bd402a53d19324c51 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-41-7_1407392292/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -409.48717219984314, + 371.2463026047417, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -406.8890959884898, + 372.7463026047417, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -404.2910197771365, + 374.2463026047417, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -401.6929435657832, + 375.7463026047417, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -399.0948673544299, + 377.2463026047417, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -396.49679114307656, + 378.7463026047417, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -393.89871493172325, + 380.2463026047417, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -391.30063872036993, + 381.7463026047417, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -388.7025625090166, + 383.2463026047417, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -386.1044862976633, + 384.7463026047417, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -383.50641008631, + 386.2463026047417, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -380.90833387495667, + 387.7463026047417, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -378.31025766360335, + 389.2463026047417, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -375.71218145225004, + 390.7463026047417, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -373.1141052408967, + 392.2463026047417, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -370.5160290295434, + 393.7463026047417, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -367.9179528181901, + 395.2463026047417, + -15.340968103997856 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -367.9179528181901, + 395.2463026047417, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -366.4179528181901, + 397.844378816095, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -364.9179528181901, + 400.4424550274483, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -363.84117927551273, + 405.62004070281984, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -363.4179528181901, + 403.04053123880163, + -15.340968103997856 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -363.4179528181901, + 403.04053123880163, + -15.340968103997856 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -363.4179528181901, + 403.04053123880163, + -15.340968103997856 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -363.4179528181901, + 403.04053123880163, + -15.340968103997856 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -363.4179528181901, + 403.04053123880163, + -15.340968103997856 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -363.4179528181901, + 403.04053123880163, + -15.340968103997856 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948961 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -363.4179528181901, + 403.04053123880163, + -15.340968103997856 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -363.4179528181901, + 403.04053123880163, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -364.9179528181901, + 400.4424550274483, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -366.4179528181901, + 397.844378816095, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -367.9179528181901, + 395.2463026047417, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -369.4179528181901, + 392.64822639338837, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -370.9179528181901, + 390.05015018203505, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -372.4179528181901, + 387.45207397068174, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -373.9179528181901, + 384.8539977593284, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -375.4179528181901, + 382.2559215479751, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -376.9179528181901, + 379.6578453366218, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -378.4179528181901, + 377.0597691252685, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -379.9179528181901, + 374.46169291391516, + -15.340968103997856 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -379.9179528181901, + 374.46169291391516, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -379.9179528181901, + 371.46169291391516, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -379.9179528181901, + 368.46169291391516, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -379.9179528181901, + 365.46169291391516, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -379.9179528181901, + 362.46169291391516, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -379.9179528181901, + 359.46169291391516, + -15.340968103997856 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -379.9179528181901, + 356.46169291391516, + -15.340968103997856 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -380.34502296447755, + 354.05039978027344, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-49-31_1175526309/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-49-31_1175526309/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..972e0fcf20cd68a1ed05294fc337e3cb5e4aec68 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-49-31_1175526309/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -249.1935833051866, + 321.6286362668893, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -246.1935833051866, + 321.6286362668893, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -243.1935833051866, + 321.6286362668893, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -240.1935833051866, + 321.6286362668893, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -237.1935833051866, + 321.6286362668893, + -16.722642171674792 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -237.1935833051866, + 321.6286362668893, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -234.59550709383328, + 323.1286362668893, + -16.722642171674792 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -234.59550709383328, + 323.1286362668893, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -233.09550709383328, + 325.72671247824263, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -231.59550709383328, + 328.32478868959595, + -16.722642171674792 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -231.59550709383328, + 328.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -228.99743088247996, + 329.82478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -226.39935467112664, + 331.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -223.80127845977333, + 332.82478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -221.20320224842, + 334.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -218.6051260370667, + 335.82478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -216.00704982571338, + 337.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -213.40897361436006, + 338.82478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -210.81089740300675, + 340.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -208.21282119165343, + 341.82478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -205.61474498030012, + 343.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -203.0166687689468, + 344.82478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -200.41859255759348, + 346.32478868959595, + -16.722642171674792 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -200.41859255759348, + 346.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -197.41859255759348, + 346.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -191.5625873565674, + 346.9084686279297, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -194.41859255759348, + 346.32478868959595, + -16.722642171674792 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -194.41859255759348, + 346.32478868959595, + -16.722642171674792 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -194.41859255759348, + 346.32478868959595, + -16.722642171674792 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -194.41859255759348, + 346.32478868959595, + -16.722642171674792 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -194.41859255759348, + 346.32478868959595, + -16.722642171674792 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -194.41859255759348, + 346.32478868959595, + -16.722642171674792 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -194.41859255759348, + 346.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -197.0166687689468, + 347.82478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -199.61474498030012, + 349.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -202.21282119165343, + 350.82478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -204.81089740300675, + 352.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -207.40897361436006, + 353.82478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -210.00704982571338, + 355.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -212.6051260370667, + 356.82478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -215.20320224842, + 358.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -217.80127845977333, + 359.82478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -220.39935467112664, + 361.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -222.99743088247996, + 362.82478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -225.59550709383328, + 364.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -228.1935833051866, + 365.82478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -230.7916595165399, + 367.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -233.38973572789322, + 368.82478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -235.98781193924654, + 370.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -238.58588815059986, + 371.82478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -241.18396436195317, + 373.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -243.7820405733065, + 374.82478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -246.3801167846598, + 376.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -248.97819299601312, + 377.82478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -251.57626920736644, + 379.32478868959595, + -16.722642171674792 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -251.57626920736644, + 379.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -254.57626920736644, + 379.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -257.5762692073664, + 379.32478868959595, + -16.722642171674792 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -260.5762692073664, + 379.32478868959595, + -16.722642171674792 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -263.47981681823734, + 380.5432971954346, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-49-3_1866000081/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-49-3_1866000081/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb02e1b3b352cb384c3c806172814c15668fdea3 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-49-3_1866000081/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 75.3845392233889, + 294.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 78.3845392233889, + 294.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 81.3845392233889, + 294.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 84.3845392233889, + 294.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 87.3845392233889, + 294.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 90.3845392233889, + 294.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 93.3845392233889, + 294.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 96.3845392233889, + 294.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 99.3845392233889, + 294.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 102.3845392233889, + 294.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 105.3845392233889, + 294.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 108.3845392233889, + 294.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 111.3845392233889, + 294.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 114.3845392233889, + 294.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 117.3845392233889, + 294.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 120.3845392233889, + 294.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 123.3845392233889, + 294.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 126.3845392233889, + 294.7546709161918, + -20.579829575087327 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 126.3845392233889, + 294.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 128.98261543474223, + 293.2546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982965 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 131.58069164609554, + 291.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 134.17876785744886, + 290.2546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 136.77684406880218, + 288.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 139.3749202801555, + 287.2546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 144.2937671661377, + 286.0436576843262, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 141.9729964915088, + 285.7546709161918, + -20.579829575087327 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 141.9729964915088, + 285.7546709161918, + -20.579829575087327 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 141.9729964915088, + 285.7546709161918, + -20.579829575087327 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 141.9729964915088, + 285.7546709161918, + -20.579829575087327 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 141.9729964915088, + 285.7546709161918, + -20.579829575087327 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 141.9729964915088, + 285.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 141.9729964915088, + 288.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 141.9729964915088, + 291.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 141.9729964915088, + 294.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 141.9729964915088, + 297.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 141.9729964915088, + 300.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 141.9729964915088, + 303.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 141.9729964915088, + 306.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 141.9729964915088, + 309.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 141.9729964915088, + 312.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 141.9729964915088, + 315.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 141.9729964915088, + 318.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 141.9729964915088, + 321.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 141.9729964915088, + 324.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 141.9729964915088, + 327.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 141.9729964915088, + 330.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 141.9729964915088, + 333.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 141.9729964915088, + 336.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 141.9729964915088, + 339.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 141.9729964915088, + 342.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 141.9729964915088, + 345.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 141.9729964915088, + 348.7546709161918, + -20.579829575087327 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 141.9729964915088, + 348.7546709161918, + -20.579829575087327 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 141.9729964915088, + 348.7546709161918, + -20.579829575087327 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 144.57107270286212, + 350.2546709161918, + -20.579829575087327 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982989 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 145.60676317214967, + 352.5146116256714, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-50-2_1586903190/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-50-2_1586903190/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..898c7b4231e816d4fd87179cf8cf7c24603968ec --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-50-2_1586903190/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -419.0971948136292, + 214.3565921195343, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -419.0971948136292, + 217.3565921195343, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -419.0971948136292, + 220.3565921195343, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -419.0971948136292, + 223.3565921195343, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -419.0971948136292, + 226.3565921195343, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -419.0971948136292, + 229.3565921195343, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -419.0971948136292, + 232.3565921195343, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -419.0971948136292, + 235.3565921195343, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -419.0971948136292, + 238.3565921195343, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -419.0971948136292, + 241.3565921195343, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -419.0971948136292, + 244.3565921195343, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -419.0971948136292, + 247.3565921195343, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -419.0971948136292, + 250.3565921195343, + -16.094779195109496 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -419.0971948136292, + 250.3565921195343, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -420.5971948136292, + 252.9546683308876, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -422.0971948136292, + 255.55274454224093, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -423.5971948136292, + 258.15082075359425, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -425.0971948136292, + 260.74889696494756, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -426.5971948136292, + 263.3469731763009, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -428.0971948136292, + 265.9450493876542, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -429.5971948136292, + 268.5431255990075, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -431.0971948136292, + 271.1412018103608, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -432.5971948136292, + 273.73927802171414, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -434.0971948136292, + 276.33735423306746, + -16.094779195109496 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -434.0971948136292, + 276.33735423306746, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -434.0971948136292, + 279.33735423306746, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -434.0971948136292, + 282.33735423306746, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -435.6551620483399, + 288.48121814727784, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -434.0971948136292, + 285.33735423306746, + -16.094779195109496 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -434.0971948136292, + 285.33735423306746, + -16.094779195109496 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -434.0971948136292, + 285.33735423306746, + -16.094779195109496 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -434.0971948136292, + 285.33735423306746, + -16.094779195109496 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -434.0971948136292, + 285.33735423306746, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -431.0971948136292, + 285.33735423306746, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -428.0971948136292, + 285.33735423306746, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -425.0971948136292, + 285.33735423306746, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -422.0971948136292, + 285.33735423306746, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -419.0971948136292, + 285.33735423306746, + -16.094779195109496 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -419.0971948136292, + 285.33735423306746, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -416.49911860227587, + 283.83735423306746, + -16.094779195109496 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -416.49911860227587, + 283.83735423306746, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -414.99911860227587, + 281.23927802171414, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -413.49911860227587, + 278.6412018103608, + -16.094779195109496 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -413.49911860227587, + 278.6412018103608, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -410.90104239092256, + 277.1412018103608, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -408.30296617956924, + 275.6412018103608, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -405.7048899682159, + 274.1412018103608, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -403.1068137568626, + 272.6412018103608, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -400.5087375455093, + 271.1412018103608, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -397.910661334156, + 269.6412018103608, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -395.31258512280266, + 268.1412018103608, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -392.71450891144934, + 266.6412018103608, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -390.116432700096, + 265.1412018103608, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -387.5183564887427, + 263.6412018103608, + -16.094779195109496 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -384.9202802773894, + 262.1412018103608, + -16.094779195109496 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -382.8172357559204, + 262.51546230316166, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-55-22_1276673168/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-55-22_1276673168/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5adbc1ea834c0647d0442dadb173f047e45065f4 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-55-22_1276673168/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -195.1702116791267, + 166.15303325713103, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -195.1702116791267, + 169.15303325713103, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -195.1702116791267, + 172.15303325713103, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -195.1702116791267, + 175.15303325713103, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -195.1702116791267, + 178.15303325713103, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -195.1702116791267, + 181.15303325713103, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -195.1702116791267, + 184.15303325713103, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -195.1702116791267, + 187.15303325713103, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -195.1702116791267, + 190.15303325713103, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -195.1702116791267, + 193.15303325713103, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -195.1702116791267, + 196.15303325713103, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -195.1702116791267, + 199.15303325713103, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -195.1702116791267, + 202.15303325713103, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -195.1702116791267, + 205.15303325713103, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -195.1702116791267, + 208.15303325713103, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -195.1702116791267, + 211.15303325713103, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -192.74566249847413, + 216.19230060577394, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -195.1702116791267, + 214.15303325713103, + -24.14648321109634 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -195.1702116791267, + 214.15303325713103, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -196.6702116791267, + 216.75110946848434, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -198.1702116791267, + 219.34918567983766, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -199.6702116791267, + 221.94726189119098, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -201.1702116791267, + 224.5453381025443, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -202.6702116791267, + 227.1434143138976, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -204.1702116791267, + 229.74149052525092, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -205.6702116791267, + 232.33956673660424, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -207.1702116791267, + 234.93764294795756, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -208.6702116791267, + 237.53571915931087, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -210.1702116791267, + 240.1337953706642, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -211.6702116791267, + 242.7318715820175, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -213.1702116791267, + 245.32994779337082, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -214.6702116791267, + 247.92802400472414, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -216.1702116791267, + 250.52610021607745, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -217.6702116791267, + 253.12417642743077, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -219.1702116791267, + 255.72225263878408, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -220.6702116791267, + 258.3203288501374, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -222.1702116791267, + 260.9184050614907, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -223.6702116791267, + 263.51648127284403, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -225.1702116791267, + 266.11455748419735, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -226.6702116791267, + 268.71263369555066, + -24.14648321109634 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -226.6702116791267, + 268.71263369555066, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -226.6702116791267, + 271.71263369555066, + -24.14648321109634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -226.6702116791267, + 274.71263369555066, + -24.14648321109634 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.42313041687012, + 276.43410530090335, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-57-11_696947386/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-57-11_696947386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91128edecbb9e702d484781c2a728b63337fa145 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_3-57-11_696947386/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 252.87263809769036, + 65.07788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 249.87263809769036, + 65.07788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 246.87263809769036, + 65.07788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 243.87263809769036, + 65.07788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 240.87263809769036, + 65.07788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 237.87263809769036, + 65.07788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 234.87263809769036, + 65.07788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 231.87263809769036, + 65.07788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 228.87263809769036, + 65.07788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 225.87263809769036, + 65.07788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 222.87263809769036, + 65.07788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 219.87263809769036, + 65.07788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 216.87263809769036, + 65.07788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 213.87263809769036, + 65.07788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 210.87263809769036, + 65.07788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 207.87263809769036, + 65.07788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 204.87263809769036, + 65.07788950371094, + -15.573238538669857 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 204.87263809769036, + 65.07788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 202.27456188633704, + 66.57788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 199.67648567498372, + 68.07788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 197.0784094636304, + 69.57788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 194.4803332522771, + 71.07788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 191.88225704092378, + 72.57788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 189.28418082957046, + 74.07788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 184.7513246536255, + 73.33496251106263, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 186.68610461821714, + 75.57788950371094, + -15.573238538669857 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 186.68610461821714, + 75.57788950371094, + -15.573238538669857 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 186.68610461821714, + 75.57788950371094, + -15.573238538669857 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 186.68610461821714, + 75.57788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 186.68610461821714, + 78.57788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 186.68610461821714, + 81.57788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 186.68610461821714, + 84.57788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 186.68610461821714, + 87.57788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 186.68610461821714, + 90.57788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 186.68610461821714, + 93.57788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 186.68610461821714, + 96.57788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 186.68610461821714, + 99.57788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 186.68610461821714, + 102.57788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 186.68610461821714, + 105.57788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 186.68610461821714, + 108.57788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 186.68610461821714, + 111.57788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 186.68610461821714, + 114.57788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 186.68610461821714, + 117.57788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 186.68610461821714, + 120.57788950371094, + -15.573238538669857 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 186.68610461821714, + 120.57788950371094, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 185.18610461821714, + 123.17596571506425, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 183.68610461821714, + 125.77404192641757, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 182.18610461821714, + 128.37211813777088, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 180.68610461821714, + 130.9701943491242, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 179.18610461821714, + 133.56827056047752, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 177.68610461821714, + 136.16634677183083, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 176.18610461821714, + 138.76442298318415, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 174.68610461821714, + 141.36249919453746, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 173.18610461821714, + 143.96057540589078, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 171.68610461821714, + 146.5586516172441, + -15.573238538669857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 170.18610461821714, + 149.1567278285974, + -15.573238538669857 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 172.00853967666626, + 151.80226211547853, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_4-16-40_1745790417/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_4-16-40_1745790417/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef1c73d83854a28a4a2b1dd1253d636ba695a7d6 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_4-16-40_1745790417/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 105.23618673200195, + 18.794130639076837, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 102.63811052064864, + 20.294130639076837, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 100.04003430929532, + 21.794130639076837, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 97.441958097942, + 23.294130639076837, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 94.84388188658869, + 24.794130639076837, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 92.24580567523537, + 26.294130639076837, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 89.64772946388206, + 27.794130639076837, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 87.04965325252874, + 29.294130639076837, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 84.45157704117543, + 30.794130639076837, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 81.85350082982211, + 32.29413063907683, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 79.2554246184688, + 33.79413063907683, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 76.65734840711548, + 35.29413063907683, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 74.05927219576216, + 36.79413063907683, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 71.46119598440885, + 38.29413063907683, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 68.86311977305553, + 39.79413063907683, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 66.26504356170221, + 41.29413063907683, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 63.6669673503489, + 42.79413063907683, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 61.06889113899558, + 44.29413063907683, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 58.470814927642266, + 45.79413063907683, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 55.87273871628895, + 47.29413063907683, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 53.274662504935634, + 48.79413063907683, + -19.80665635527296 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 53.274662504935634, + 48.79413063907683, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 50.274662504935634, + 48.79413063907683, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 47.274662504935634, + 48.79413063907683, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 44.274662504935634, + 48.79413063907683, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 38.59305419921875, + 50.505572175979616, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 41.274662504935634, + 48.79413063907683, + -19.80665635527296 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 41.274662504935634, + 48.79413063907683, + -19.80665635527296 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 41.274662504935634, + 48.79413063907683, + -19.80665635527296 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 41.274662504935634, + 48.79413063907683, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 39.774662504935634, + 51.39220685043015, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 38.274662504935634, + 53.990283061783465, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 36.774662504935634, + 56.58835927313678, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 35.274662504935634, + 59.1864354844901, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 33.774662504935634, + 61.78451169584341, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 32.274662504935634, + 64.38258790719672, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 30.774662504935634, + 66.98066411855004, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 29.274662504935634, + 69.57874032990335, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 27.774662504935634, + 72.17681654125667, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 26.274662504935634, + 74.77489275260999, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 24.774662504935634, + 77.3729689639633, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 23.274662504935634, + 79.97104517531662, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 21.774662504935634, + 82.56912138666993, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 20.274662504935634, + 85.16719759802325, + -19.80665635527296 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 18.774662504935634, + 87.76527380937657, + -19.80665635527296 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 20.470736217498782, + 89.76326742172242, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_4-27-1_1152645729/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_4-27-1_1152645729/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b2d6c42a71547b500612b8a5e2adcb9876a38a7a --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_4-27-1_1152645729/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -45.95747057121837, + 314.6817093146952, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -44.45747057121837, + 317.2797855260485, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -42.95747057121837, + 319.8778617374018, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -41.45747057121837, + 322.47593794875513, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -39.95747057121837, + 325.07401416010845, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -38.45747057121837, + 327.67209037146176, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -36.95747057121837, + 330.2701665828151, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -35.45747057121837, + 332.8682427941684, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -33.95747057121837, + 335.4663190055217, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -32.45747057121837, + 338.064395216875, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -30.957470571218373, + 340.66247142822834, + -15.04351046831426 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -30.957470571218373, + 340.66247142822834, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -30.957470571218373, + 343.66247142822834, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -30.957470571218373, + 346.66247142822834, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -30.957470571218373, + 349.66247142822834, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -30.957470571218373, + 352.66247142822834, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -30.957470571218373, + 355.66247142822834, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -30.957470571218373, + 358.66247142822834, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -30.957470571218373, + 361.66247142822834, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -30.957470571218373, + 364.66247142822834, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -29.34419298171997, + 370.07065830230715, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -30.957470571218373, + 367.66247142822834, + -15.04351046831426 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -30.957470571218373, + 367.66247142822834, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -32.45747057121837, + 370.26054763958166, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -33.95747057121837, + 372.858623850935, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -35.45747057121837, + 375.4567000622883, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -36.95747057121837, + 378.0547762736416, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -38.45747057121837, + 380.6528524849949, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -39.95747057121837, + 383.25092869634824, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -41.45747057121837, + 385.84900490770156, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -42.95747057121837, + 388.44708111905487, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -44.45747057121837, + 391.0451573304082, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -45.95747057121837, + 393.6432335417615, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -47.45747057121837, + 396.2413097531148, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -48.95747057121837, + 398.83938596446814, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -50.45747057121837, + 401.43746217582145, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -51.95747057121837, + 404.03553838717477, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -53.45747057121837, + 406.6336145985281, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -54.95747057121837, + 409.2316908098814, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -56.45747057121837, + 411.8297670212347, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -57.95747057121837, + 414.42784323258803, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -59.45747057121837, + 417.02591944394135, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -60.95747057121837, + 419.62399565529466, + -15.04351046831426 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -60.95747057121837, + 419.62399565529466, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -60.95747057121837, + 422.62399565529466, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -60.95747057121837, + 425.62399565529466, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -60.95747057121837, + 428.62399565529466, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -60.95747057121837, + 431.62399565529466, + -15.04351046831426 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -60.95747057121837, + 434.62399565529466, + -15.04351046831426 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -63.5878408908844, + 436.78047485351567, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_4-43-11_126401947/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_4-43-11_126401947/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd1bcb79343a62488634fd5a673ec46035dc75cf --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_4-43-11_126401947/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 67.64269623877476, + -137.6039583503304, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 70.24077245012808, + -136.1039583503304, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 72.83884866148139, + -134.6039583503304, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 75.43692487283471, + -133.1039583503304, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 78.03500108418802, + -131.6039583503304, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 80.63307729554134, + -130.1039583503304, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 83.23115350689466, + -128.6039583503304, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 85.82922971824797, + -127.1039583503304, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 88.42730592960129, + -125.6039583503304, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 91.0253821409546, + -124.1039583503304, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 93.62345835230792, + -122.6039583503304, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 96.22153456366124, + -121.1039583503304, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 98.81961077501455, + -119.6039583503304, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 101.41768698636787, + -118.1039583503304, + -17.50557631866518 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 101.41768698636787, + -118.1039583503304, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 102.91768698636787, + -115.50588213897709, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 104.41768698636787, + -112.90780592762377, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 105.91768698636787, + -110.30972971627045, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 107.41768698636787, + -107.71165350491714, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 108.91768698636787, + -105.11357729356382, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 110.41768698636787, + -102.5155010822105, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 111.91768698636787, + -99.91742487085719, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 113.41768698636787, + -97.31934865950387, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 116.47075052261353, + -94.12755188941956, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 114.91768698636787, + -94.72127244815056, + -17.50557631866518 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 114.91768698636787, + -94.72127244815056, + -17.50557631866518 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 114.91768698636787, + -94.72127244815056, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 113.41768698636787, + -92.12319623679724, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 111.91768698636787, + -89.52512002544393, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 110.41768698636787, + -86.92704381409061, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 108.91768698636787, + -84.3289676027373, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 107.41768698636787, + -81.73089139138398, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 105.91768698636787, + -79.13281518003066, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 104.41768698636787, + -76.53473896867735, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 102.91768698636787, + -73.93666275732403, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 101.41768698636787, + -71.33858654597071, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 99.91768698636787, + -68.7405103346174, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 98.41768698636787, + -66.14243412326408, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 96.91768698636787, + -63.544357911910765, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 95.41768698636787, + -60.94628170055745, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 93.91768698636787, + -58.34820548920413, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 92.41768698636787, + -55.75012927785082, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 90.91768698636787, + -53.1520530664975, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 89.41768698636787, + -50.553976855144185, + -17.50557631866518 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 89.41768698636787, + -50.553976855144185, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 89.41768698636787, + -47.553976855144185, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 89.41768698636787, + -44.553976855144185, + -17.50557631866518 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 89.41768698636787, + -41.553976855144185, + -17.50557631866518 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.69617862701416, + -39.65713562965393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_4-57-0_1985433483/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_4-57-0_1985433483/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..88df7834459aa7f05b25a62711e6b7655031e61a --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_4-57-0_1985433483/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 149.78975726802537, + 14.582872714296343, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 148.28975726802537, + 17.18094892564966, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 146.78975726802537, + 19.779025137002975, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 145.28975726802537, + 22.37710134835629, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 143.78975726802537, + 24.975177559709607, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 142.28975726802537, + 27.573253771062923, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 140.78975726802537, + 30.17132998241624, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 139.28975726802537, + 32.769406193769555, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 137.78975726802537, + 35.36748240512287, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 136.28975726802537, + 37.96555861647619, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 134.78975726802537, + 40.5636348278295, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 133.28975726802537, + 43.16171103918282, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 131.78975726802537, + 45.759787250536135, + -20.89375796365476 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 131.78975726802537, + 45.759787250536135, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 131.78975726802537, + 48.759787250536135, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 131.78975726802537, + 51.759787250536135, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 131.78975726802537, + 54.759787250536135, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 131.78975726802537, + 57.759787250536135, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 131.78975726802537, + 60.759787250536135, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 131.78975726802537, + 63.759787250536135, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 131.78975726802537, + 66.75978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 131.78975726802537, + 69.75978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 131.78975726802537, + 72.75978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 131.78975726802537, + 75.75978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 131.85336561203005, + 81.29258055686951, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 131.78975726802537, + 78.75978725053614, + -20.89375796365476 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 131.78975726802537, + 78.75978725053614, + -20.89375796365476 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 131.78975726802537, + 78.75978725053614, + -20.89375796365476 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 131.78975726802537, + 78.75978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 129.19168105667205, + 80.25978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 126.59360484531874, + 81.75978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 123.99552863396542, + 83.25978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 121.3974524226121, + 84.75978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 118.79937621125879, + 86.25978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 116.20129999990547, + 87.75978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 113.60322378855216, + 89.25978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 111.00514757719884, + 90.75978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 108.40707136584552, + 92.25978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 105.80899515449221, + 93.75978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 103.21091894313889, + 95.25978725053614, + -20.89375796365476 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 103.21091894313889, + 95.25978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 100.21091894313889, + 95.25978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 97.21091894313889, + 95.25978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 94.21091894313889, + 95.25978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 91.21091894313889, + 95.25978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 88.21091894313889, + 95.25978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 85.21091894313889, + 95.25978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 82.21091894313889, + 95.25978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 79.21091894313889, + 95.25978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 76.21091894313889, + 95.25978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 73.21091894313889, + 95.25978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 70.21091894313889, + 95.25978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 67.21091894313889, + 95.25978725053614, + -20.89375796365476 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 67.21091894313889, + 95.25978725053614, + -20.89375796365476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 64.61284273178558, + 96.75978725053614, + -20.89375796365476 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 61.79868612289429, + 98.42731351852417, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_5-12-4_76593093/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_5-12-4_76593093/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4fcc70af9bef29efd9a21249ae1ddbadbee08ebd --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_5-12-4_76593093/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 232.49934677227304, + 94.46286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 229.90127056091973, + 92.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 227.3031943495664, + 91.46286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 224.7051181382131, + 89.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 222.10704192685978, + 88.46286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 219.50896571550646, + 86.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 216.91088950415315, + 85.46286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 214.31281329279983, + 83.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 211.71473708144651, + 82.46286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 209.1166608700932, + 80.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 206.51858465873988, + 79.46286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 203.92050844738657, + 77.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 201.32243223603325, + 76.46286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 198.72435602467993, + 74.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 196.12627981332662, + 73.46286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 193.5282036019733, + 71.96286831130931, + -17.368244474960203 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 193.5282036019733, + 71.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 190.5282036019733, + 71.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 184.7513246536255, + 73.33496251106263, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 187.5282036019733, + 71.96286831130931, + -17.368244474960203 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 187.5282036019733, + 71.96286831130931, + -17.368244474960203 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 187.5282036019733, + 71.96286831130931, + -17.368244474960203 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 187.5282036019733, + 71.96286831130931, + -17.368244474960203 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 187.5282036019733, + 71.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 187.5282036019733, + 68.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 187.5282036019733, + 65.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 187.5282036019733, + 62.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 187.5282036019733, + 59.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 187.5282036019733, + 56.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 187.5282036019733, + 53.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 187.5282036019733, + 50.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 187.5282036019733, + 47.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 187.5282036019733, + 44.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 187.5282036019733, + 41.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 187.5282036019733, + 38.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 187.5282036019733, + 35.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 187.5282036019733, + 32.96286831130931, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 187.5282036019733, + 29.962868311309308, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 187.5282036019733, + 26.962868311309308, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 187.5282036019733, + 23.962868311309308, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 187.5282036019733, + 20.962868311309308, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 187.5282036019733, + 17.962868311309308, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 187.5282036019733, + 14.962868311309308, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 187.5282036019733, + 11.962868311309308, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 187.5282036019733, + 8.962868311309308, + -17.368244474960203 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 187.5282036019733, + 8.962868311309308, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 189.0282036019733, + 6.3647920999559915, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 190.5282036019733, + 3.7667158886026755, + -17.368244474960203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 192.0282036019733, + 1.1686396772493595, + -17.368244474960203 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 193.10110254287721, + -0.9578603744506836, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_5-14-15_703550253/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_5-14-15_703550253/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..df800814f4a592b0233d4eeebcfaf9890d4df3b3 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_5-14-15_703550253/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -184.98090638714535, + 76.19087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -181.98090638714535, + 76.19087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -178.98090638714535, + 76.19087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -175.98090638714535, + 76.19087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -172.98090638714535, + 76.19087937694837, + -21.751384143480216 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -172.98090638714535, + 76.19087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -170.38283017579204, + 74.69087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -167.78475396443872, + 73.19087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -165.1866777530854, + 71.69087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -162.5886015417321, + 70.19087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -159.99052533037877, + 68.69087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -157.39244911902546, + 67.19087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -154.79437290767214, + 65.69087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -152.19629669631883, + 64.19087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -149.5982204849655, + 62.690879376948374, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -147.0001442736122, + 61.190879376948374, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -144.40206806225888, + 59.690879376948374, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -141.80399185090556, + 58.190879376948374, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -139.20591563955225, + 56.690879376948374, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -136.60783942819893, + 55.190879376948374, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -131.383580493927, + 55.4392418384552, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -134.0097632168456, + 53.690879376948374, + -21.751384143480216 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -134.0097632168456, + 53.690879376948374, + -21.751384143480216 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -134.0097632168456, + 53.690879376948374, + -21.751384143480216 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -134.0097632168456, + 53.690879376948374, + -21.751384143480216 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -134.0097632168456, + 53.690879376948374, + -21.751384143480216 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -134.0097632168456, + 53.690879376948374, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -134.0097632168456, + 56.690879376948374, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -134.0097632168456, + 59.690879376948374, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -134.0097632168456, + 62.690879376948374, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -134.0097632168456, + 65.69087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -134.0097632168456, + 68.69087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -134.0097632168456, + 71.69087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -134.0097632168456, + 74.69087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -134.0097632168456, + 77.69087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -134.0097632168456, + 80.69087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -134.0097632168456, + 83.69087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -134.0097632168456, + 86.69087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -134.0097632168456, + 89.69087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -134.0097632168456, + 92.69087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -134.0097632168456, + 95.69087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -134.0097632168456, + 98.69087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -134.0097632168456, + 101.69087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -134.0097632168456, + 104.69087937694837, + -21.751384143480216 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -134.0097632168456, + 104.69087937694837, + -21.751384143480216 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -134.0097632168456, + 104.69087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -131.4116870054923, + 106.19087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -128.81361079413898, + 107.69087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -126.21553458278566, + 109.19087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -123.61745837143235, + 110.69087937694837, + -21.751384143480216 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -121.01938216007903, + 112.19087937694837, + -21.751384143480216 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -121.91530103683472, + 115.51278867721558, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_5-19-43_639806732/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_5-19-43_639806732/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..518a48b4e0dcd12bf0c4cca5a02dbcbdd9a18c4c --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_5-19-43_639806732/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -18.53369102402454, + 408.0169828131019, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -15.533691024024542, + 408.0169828131019, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -12.533691024024542, + 408.0169828131019, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -9.533691024024542, + 408.0169828131019, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -6.533691024024542, + 408.0169828131019, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -3.5336910240245416, + 408.0169828131019, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -0.5336910240245416, + 408.0169828131019, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2.4663089759754584, + 408.0169828131019, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 5.466308975975458, + 408.0169828131019, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 8.466308975975458, + 408.0169828131019, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 11.466308975975458, + 408.0169828131019, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 14.466308975975458, + 408.0169828131019, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 17.46630897597546, + 408.0169828131019, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 20.46630897597546, + 408.0169828131019, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 23.46630897597546, + 408.0169828131019, + -17.849960497762947 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 23.46630897597546, + 408.0169828131019, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 26.064385187328774, + 409.5169828131019, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 28.66246139868209, + 411.0169828131019, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 31.260537610035406, + 412.5169828131019, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 33.85861382138872, + 414.0169828131019, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 37.990253353118895, + 414.50321331024173, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 36.45669003274204, + 415.5169828131019, + -17.849960497762947 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 36.45669003274204, + 415.5169828131019, + -17.849960497762947 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 36.45669003274204, + 415.5169828131019, + -17.849960497762947 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 36.45669003274204, + 415.5169828131019, + -17.849960497762947 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 36.45669003274204, + 415.5169828131019, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 34.95669003274204, + 418.1150590244552, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 33.45669003274204, + 420.7131352358085, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 31.95669003274204, + 423.31121144716184, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 30.45669003274204, + 425.90928765851515, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 28.95669003274204, + 428.50736386986847, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 27.45669003274204, + 431.1054400812218, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 25.95669003274204, + 433.7035162925751, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 24.45669003274204, + 436.3015925039284, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 22.95669003274204, + 438.89966871528173, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 21.45669003274204, + 441.49774492663505, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 19.95669003274204, + 444.09582113798837, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 18.45669003274204, + 446.6938973493417, + -17.849960497762947 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 18.45669003274204, + 446.6938973493417, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 18.45669003274204, + 449.6938973493417, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 18.45669003274204, + 452.6938973493417, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 18.45669003274204, + 455.6938973493417, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 18.45669003274204, + 458.6938973493417, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 18.45669003274204, + 461.6938973493417, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 18.45669003274204, + 464.6938973493417, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 18.45669003274204, + 467.6938973493417, + -17.849960497762947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 18.45669003274204, + 470.6938973493417, + -17.849960497762947 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 17.448638093471526, + 473.35583000183107, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_5-31-32_483689685/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_5-31-32_483689685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff596beb97906039c493643ae6f2f9d95cda2c8f --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_5-31-32_483689685/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 136.7576069416483, + 136.1919229878412, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 135.2576069416483, + 138.7899991991945, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 133.7576069416483, + 141.38807541054783, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 132.2576069416483, + 143.98615162190114, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 130.7576069416483, + 146.58422783325446, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 129.2576069416483, + 149.18230404460778, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 127.7576069416483, + 151.7803802559611, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 126.2576069416483, + 154.3784564673144, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 124.7576069416483, + 156.97653267866772, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 123.2576069416483, + 159.57460889002104, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 121.7576069416483, + 162.17268510137436, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 120.2576069416483, + 164.77076131272767, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 118.7576069416483, + 167.368837524081, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 117.2576069416483, + 169.9669137354343, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 115.7576069416483, + 172.56498994678762, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 114.2576069416483, + 175.16306615814094, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 112.7576069416483, + 177.76114236949425, + -22.751135887883013 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 112.7576069416483, + 177.76114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 110.15953073029499, + 179.26114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 107.56145451894167, + 180.76114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 104.96337830758836, + 182.26114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 101.93407335281373, + 187.48899812698366, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 102.36530209623504, + 183.76114236949425, + -22.751135887883013 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 102.36530209623504, + 183.76114236949425, + -22.751135887883013 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 102.36530209623504, + 183.76114236949425, + -22.751135887883013 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 102.36530209623504, + 183.76114236949425, + -22.751135887883013 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 102.36530209623504, + 183.76114236949425, + -22.751135887883013 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 102.36530209623504, + 183.76114236949425, + -22.751135887883013 + ], + "type": "turn right", + "value": 30, + "yaw": 4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 102.36530209623504, + 183.76114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 105.36530209623504, + 183.76114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 108.36530209623504, + 183.76114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 111.36530209623504, + 183.76114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 114.36530209623504, + 183.76114236949425, + -22.751135887883013 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 114.36530209623504, + 183.76114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 116.96337830758836, + 182.26114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 119.56145451894167, + 180.76114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 122.15953073029499, + 179.26114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 124.7576069416483, + 177.76114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 127.35568315300162, + 176.26114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 129.95375936435494, + 174.76114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 132.55183557570825, + 173.26114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 135.14991178706157, + 171.76114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 137.74798799841489, + 170.26114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 140.3460642097682, + 168.76114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 142.94414042112152, + 167.26114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 145.54221663247483, + 165.76114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 148.14029284382815, + 164.26114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 150.73836905518147, + 162.76114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 153.33644526653478, + 161.26114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 155.9345214778881, + 159.76114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 158.5325976892414, + 158.26114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 161.13067390059473, + 156.76114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 163.72875011194805, + 155.26114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 166.32682632330136, + 153.76114236949425, + -22.751135887883013 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 168.92490253465468, + 152.26114236949425, + -22.751135887883013 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 172.00853967666626, + 151.80226211547853, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_5-47-39_1140384172/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_5-47-39_1140384172/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2856cca8ffac12f495a5461a4c8eebcf84d23569 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_5-47-39_1140384172/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 178.7287264580361, + 129.56128532769665, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 175.7287264580361, + 129.56128532769665, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 172.7287264580361, + 129.56128532769665, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 169.7287264580361, + 129.56128532769665, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 166.7287264580361, + 129.56128532769665, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 163.7287264580361, + 129.56128532769665, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 160.7287264580361, + 129.56128532769665, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 157.7287264580361, + 129.56128532769665, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 154.7287264580361, + 129.56128532769665, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 151.7287264580361, + 129.56128532769665, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 148.7287264580361, + 129.56128532769665, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 145.7287264580361, + 129.56128532769665, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 142.7287264580361, + 129.56128532769665, + -15.19251059750094 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 142.7287264580361, + 129.56128532769665, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 140.1306502466828, + 131.06128532769665, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 137.53257403532947, + 132.56128532769665, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 134.93449782397616, + 134.06128532769665, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 132.33642161262284, + 135.56128532769665, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 126.12591409683228, + 137.03480195999146, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 129.73834540126953, + 137.06128532769665, + -15.19251059750094 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 129.73834540126953, + 137.06128532769665, + -15.19251059750094 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 129.73834540126953, + 137.06128532769665, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 128.23834540126953, + 139.65936153904997, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 126.73834540126953, + 142.25743775040328, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 125.23834540126953, + 144.8555139617566, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 123.73834540126953, + 147.45359017310992, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 122.23834540126953, + 150.05166638446323, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 120.73834540126953, + 152.64974259581655, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 119.23834540126953, + 155.24781880716986, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 117.73834540126953, + 157.84589501852318, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 116.23834540126953, + 160.4439712298765, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 114.73834540126953, + 163.0420474412298, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 113.23834540126953, + 165.64012365258313, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 111.73834540126953, + 168.23819986393644, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 110.23834540126953, + 170.83627607528976, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 108.73834540126953, + 173.43435228664308, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 107.23834540126953, + 176.0324284979964, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 105.73834540126953, + 178.6305047093497, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 104.23834540126953, + 181.22858092070302, + -15.19251059750094 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 102.73834540126953, + 183.82665713205634, + -15.19251059750094 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 101.93407335281373, + 187.48899812698366, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_5-57-10_525829204/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_5-57-10_525829204/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..232fff9cbd4ed94dfd091ca959f39e665bdccf24 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_5-57-10_525829204/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 75.55332061396605, + -89.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 78.55332061396605, + -89.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 81.55332061396605, + -89.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 84.55332061396605, + -89.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 87.55332061396605, + -89.81001793652328, + -18.121314107324388 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 87.55332061396605, + -89.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 90.15139682531937, + -88.31001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 92.74947303667268, + -86.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 95.347549248026, + -85.31001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 97.94562545937931, + -83.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 100.54370167073263, + -82.31001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 103.14177788208595, + -80.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 105.73985409343926, + -79.31001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 108.33793030479258, + -77.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 110.9360065161459, + -76.31001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 113.53408272749921, + -74.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 116.13215893885253, + -73.31001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 118.73023515020584, + -71.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 121.32831136155916, + -70.31001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 123.92638757291247, + -68.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 126.52446378426579, + -67.31001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 129.1225399956191, + -65.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983013 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 131.7206162069724, + -64.31001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 135.41849660873413, + -61.472222375869755, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 134.31869241832572, + -62.81001793652328, + -18.121314107324388 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 134.31869241832572, + -62.81001793652328, + -18.121314107324388 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 134.31869241832572, + -62.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 137.31869241832572, + -62.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 140.31869241832572, + -62.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 143.31869241832572, + -62.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 146.31869241832572, + -62.81001793652328, + -18.121314107324388 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 146.31869241832572, + -62.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 148.91676862967904, + -64.31001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 151.51484484103236, + -65.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 154.11292105238567, + -67.31001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 156.710997263739, + -68.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 159.3090734750923, + -70.31001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 161.90714968644562, + -71.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 164.50522589779894, + -73.31001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 167.10330210915225, + -74.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 169.70137832050557, + -76.31001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 172.29945453185888, + -77.81001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 174.8975307432122, + -79.31001793652328, + -18.121314107324388 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 177.49560695456552, + -80.81001793652328, + -18.121314107324388 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 178.66267461776735, + -81.21840529441835, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-0-40_1626250262/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-0-40_1626250262/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4537e1432d77a4eb8ab79bbc9dc399f72ff1418 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-0-40_1626250262/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 102.5331222238109, + 52.852556785941744, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 101.0331222238109, + 55.45063299729506, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 99.5331222238109, + 58.048709208648376, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 98.0331222238109, + 60.64678542000169, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 96.5331222238109, + 63.24486163135501, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 95.0331222238109, + 65.84293784270832, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 93.5331222238109, + 68.44101405406164, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 92.0331222238109, + 71.03909026541496, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 90.5331222238109, + 73.63716647676827, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 89.0331222238109, + 76.23524268812159, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 87.5331222238109, + 78.8333188994749, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 86.0331222238109, + 81.43139511082822, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 84.5331222238109, + 84.02947132218154, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 83.0331222238109, + 86.62754753353485, + -24.19720240377233 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 83.0331222238109, + 86.62754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 80.43504601245759, + 88.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 77.83696980110427, + 89.62754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 75.23889358975096, + 91.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 72.64081737839764, + 92.62754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 70.04274116704433, + 94.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 67.44466495569101, + 95.62754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 61.79868612289429, + 98.42731351852417, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 64.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 64.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 64.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 64.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 64.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 64.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "turn right", + "value": 30, + "yaw": 4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 64.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 67.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 70.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 73.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 76.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 79.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 82.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 85.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 88.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 91.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 94.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 97.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 100.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 103.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 106.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 109.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 112.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 115.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 115.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 115.8465887443377, + 97.12754753353485, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 117.3465887443377, + 94.52947132218154, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 118.8465887443377, + 91.93139511082822, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 120.3465887443377, + 89.3333188994749, + -24.19720240377233 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 120.3465887443377, + 89.3333188994749, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 122.94466495569101, + 87.8333188994749, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 125.54274116704433, + 86.3333188994749, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 128.14081737839763, + 84.8333188994749, + -24.19720240377233 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983013 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 130.73889358975094, + 83.3333188994749, + -24.19720240377233 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983013 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 131.85336561203005, + 81.29258055686951, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-20-2_1649709016/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-20-2_1649709016/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..810951ea111425672dee9dacac7ea61234f60720 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-20-2_1649709016/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 190.72839122676152, + 151.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 190.72839122676152, + 148.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 190.72839122676152, + 145.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 190.72839122676152, + 142.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 190.72839122676152, + 139.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 190.72839122676152, + 136.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 190.72839122676152, + 133.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 190.72839122676152, + 130.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 190.72839122676152, + 127.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 190.72839122676152, + 124.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 190.72839122676152, + 121.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 190.72839122676152, + 118.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 190.72839122676152, + 115.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 190.72839122676152, + 112.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 190.72839122676152, + 109.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 190.72839122676152, + 106.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 190.72839122676152, + 103.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 190.72839122676152, + 100.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 190.72839122676152, + 97.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 190.72839122676152, + 94.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 190.72839122676152, + 91.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 190.72839122676152, + 88.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 190.72839122676152, + 85.92204187277756, + -23.40478771309927 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 190.72839122676152, + 85.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 189.22839122676152, + 83.32396566142424, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 187.72839122676152, + 80.72588945007092, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 186.22839122676152, + 78.12781323871761, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 184.7513246536255, + 73.33496251106263, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 184.72839122676152, + 75.52973702736429, + -23.40478771309927 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 184.72839122676152, + 75.52973702736429, + -23.40478771309927 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 184.72839122676152, + 75.52973702736429, + -23.40478771309927 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 184.72839122676152, + 75.52973702736429, + -23.40478771309927 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 184.72839122676152, + 75.52973702736429, + -23.40478771309927 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 184.72839122676152, + 75.52973702736429, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 187.72839122676152, + 75.52973702736429, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 190.72839122676152, + 75.52973702736429, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 193.72839122676152, + 75.52973702736429, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 196.72839122676152, + 75.52973702736429, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 199.72839122676152, + 75.52973702736429, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 202.72839122676152, + 75.52973702736429, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 205.72839122676152, + 75.52973702736429, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 208.72839122676152, + 75.52973702736429, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 211.72839122676152, + 75.52973702736429, + -23.40478771309927 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 211.72839122676152, + 75.52973702736429, + -23.40478771309927 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 211.72839122676152, + 75.52973702736429, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 213.22839122676152, + 78.12781323871761, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 214.72839122676152, + 80.72588945007092, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 216.22839122676152, + 83.32396566142424, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 217.72839122676152, + 85.92204187277756, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 219.22839122676152, + 88.52011808413087, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 220.72839122676152, + 91.11819429548419, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 222.22839122676152, + 93.7162705068375, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 223.72839122676152, + 96.31434671819082, + -23.40478771309927 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 223.72839122676152, + 96.31434671819082, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 226.32646743811483, + 97.81434671819082, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 228.92454364946815, + 99.31434671819082, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 231.52261986082146, + 100.81434671819082, + -23.40478771309927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 234.12069607217478, + 102.31434671819082, + -23.40478771309927 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 237.49442634582522, + 103.37022337913514, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-20-31_262178224/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-20-31_262178224/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0ac733e52994bd2c57e6f3130721b0acd93d807c --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-20-31_262178224/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 142.95478944833042, + -47.48300297375062, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 144.45478944833042, + -44.884926762397306, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 145.95478944833042, + -42.28685055104399, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 147.45478944833042, + -39.688774339690674, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 148.95478944833042, + -37.09069812833736, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 150.45478944833042, + -34.49262191698404, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 151.95478944833042, + -31.894545705630726, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 153.45478944833042, + -29.29646949427741, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 154.95478944833042, + -26.698393282924094, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 156.45478944833042, + -24.100317071570778, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 157.95478944833042, + -21.502240860217462, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 159.45478944833042, + -18.904164648864146, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 160.95478944833042, + -16.30608843751083, + -18.131840732373522 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 160.95478944833042, + -16.30608843751083, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 163.55286565968373, + -14.80608843751083, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 166.15094187103705, + -13.30608843751083, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 168.74901808239036, + -11.80608843751083, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 171.34709429374368, + -10.30608843751083, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 173.945170505097, + -8.80608843751083, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 176.5432467164503, + -7.30608843751083, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 179.14132292780363, + -5.80608843751083, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 181.73939913915694, + -4.30608843751083, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 184.33747535051026, + -2.80608843751083, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 187.6693754196167, + 2.2071708753705024, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 186.93555156186358, + -1.3060884375108304, + -18.131840732373522 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 186.93555156186358, + -1.3060884375108304, + -18.131840732373522 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 186.93555156186358, + -1.3060884375108304, + -18.131840732373522 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 186.93555156186358, + -1.3060884375108304, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 186.93555156186358, + 1.6939115624891696, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 186.93555156186358, + 4.69391156248917, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 186.93555156186358, + 7.69391156248917, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 186.93555156186358, + 10.69391156248917, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 186.93555156186358, + 13.69391156248917, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 186.93555156186358, + 16.69391156248917, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 186.93555156186358, + 19.69391156248917, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 186.93555156186358, + 22.69391156248917, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 186.93555156186358, + 25.69391156248917, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 186.93555156186358, + 28.69391156248917, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 186.93555156186358, + 31.69391156248917, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 186.93555156186358, + 34.69391156248917, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 186.93555156186358, + 37.69391156248917, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 186.93555156186358, + 40.69391156248917, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 186.93555156186358, + 43.69391156248917, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 186.93555156186358, + 46.69391156248917, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 186.93555156186358, + 49.69391156248917, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 186.93555156186358, + 52.69391156248917, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 186.93555156186358, + 55.69391156248917, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 186.93555156186358, + 58.69391156248917, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 186.93555156186358, + 61.69391156248917, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 186.93555156186358, + 64.69391156248918, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 186.93555156186358, + 67.69391156248918, + -18.131840732373522 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 186.93555156186358, + 70.69391156248918, + -18.131840732373522 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 184.7513246536255, + 73.33496251106263, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-22-52_972058109/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-22-52_972058109/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d6eba7917dde6d7c38ddcc07cf887062cba448d --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-22-52_972058109/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -86.70879909386076, + 400.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -89.30687530521408, + 401.74986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -91.9049515165674, + 403.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -94.50302772792071, + 404.74986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -97.10110393927403, + 406.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -99.69918015062734, + 407.74986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -102.29725636198066, + 409.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -104.89533257333397, + 410.74986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -107.49340878468729, + 412.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -110.0914849960406, + 413.74986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -112.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -112.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -115.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -118.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -121.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -124.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -127.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -130.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -135.324280834198, + 416.13291282653813, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -133.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -133.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -133.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -133.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -133.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -133.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -133.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -133.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -130.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -127.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -124.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -121.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -118.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -115.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -112.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -109.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -106.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -103.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -103.68956120739392, + 415.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -101.0914849960406, + 416.74986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -98.49340878468729, + 418.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -95.89533257333397, + 419.74986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -93.29725636198066, + 421.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -90.69918015062734, + 422.74986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -88.10110393927403, + 424.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -85.50302772792071, + 425.74986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -82.9049515165674, + 427.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -80.30687530521408, + 428.74986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -77.70879909386076, + 430.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -75.11072288250745, + 431.74986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -72.51264667115413, + 433.24986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -69.91457045980081, + 434.74986254336966, + -20.41198650842577 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -67.3164942484475, + 436.24986254336966, + -20.41198650842577 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -63.5878408908844, + 436.78047485351567, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-28-33_1862292122/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-28-33_1862292122/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4c346061e36f372013e5dd094d79d589b2013047 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-28-33_1862292122/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -48.11308445113942, + 287.61880271884826, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -46.61308445113942, + 285.02072650749494, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -45.11308445113942, + 282.4226502961416, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -43.61308445113942, + 279.8245740847883, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -42.11308445113942, + 277.226497873435, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -40.61308445113942, + 274.6284216620817, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -39.11308445113942, + 272.03034545072836, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -37.61308445113942, + 269.43226923937505, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -36.11308445113942, + 266.83419302802173, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -34.61308445113942, + 264.2361168166684, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -33.11308445113942, + 261.6380406053151, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -31.61308445113942, + 259.0399643939618, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -30.11308445113942, + 256.44188818260847, + -18.224953081712467 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -30.11308445113942, + 256.44188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -27.515008239786106, + 254.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -24.91693202843279, + 253.44188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -22.318855817079474, + 251.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -19.720779605726158, + 250.44188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -17.12270339437284, + 248.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -14.524627183019525, + 247.44188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -11.92655097166621, + 245.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -9.328474760312893, + 244.44188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -6.7303985489595775, + 242.94188818260847, + -18.224953081712467 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -6.7303985489595775, + 242.94188818260847, + -18.224953081712467 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -6.7303985489595775, + 242.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.054965496063232, + 237.79356269836427, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -6.7303985489595775, + 239.94188818260847, + -18.224953081712467 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -6.7303985489595775, + 239.94188818260847, + -18.224953081712467 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -6.7303985489595775, + 239.94188818260847, + -18.224953081712467 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -6.7303985489595775, + 239.94188818260847, + -18.224953081712467 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -6.7303985489595775, + 239.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -9.730398548959577, + 239.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -12.730398548959577, + 239.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -15.730398548959577, + 239.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -18.730398548959577, + 239.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -21.730398548959577, + 239.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -24.730398548959577, + 239.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -27.730398548959577, + 239.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -30.730398548959577, + 239.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -33.73039854895958, + 239.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -36.73039854895958, + 239.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -39.73039854895958, + 239.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -42.73039854895958, + 239.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -45.73039854895958, + 239.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -48.73039854895958, + 239.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -51.73039854895958, + 239.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -54.73039854895958, + 239.94188818260847, + -18.224953081712467 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -54.73039854895958, + 239.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -57.32847476031289, + 238.44188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -59.92655097166621, + 236.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -62.524627183019525, + 235.44188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -65.12270339437285, + 233.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914957 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -67.72077960572616, + 232.44188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -70.31885581707948, + 230.94188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -72.9169320284328, + 229.44188818260847, + -18.224953081712467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -75.51500823978611, + 227.94188818260847, + -18.224953081712467 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -78.11547446250916, + 225.18597507476807, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-3-30_1981208324/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-3-30_1981208324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc60422ace53dc06884c7f89b71db05f5b1e5cab --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-3-30_1981208324/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -31.731260881120072, + 319.182736877615, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -33.23126088112007, + 316.5846606662617, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -34.73126088112007, + 313.9865844549084, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -36.23126088112007, + 311.38850824355507, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -37.73126088112007, + 308.79043203220175, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -39.23126088112007, + 306.19235582084843, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -40.73126088112007, + 303.5942796094951, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -42.23126088112007, + 300.9962033981418, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -43.73126088112007, + 298.3981271867885, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -45.23126088112007, + 295.80005097543517, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -46.73126088112007, + 293.20197476408185, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -48.23126088112007, + 290.60389855272854, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -49.73126088112007, + 288.0058223413752, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -51.23126088112007, + 285.4077461300219, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -52.73126088112007, + 282.8096699186686, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -54.23126088112007, + 280.2115937073153, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -55.73126088112007, + 277.61351749596196, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -57.23126088112007, + 275.01544128460864, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -58.73126088112007, + 272.4173650732553, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -60.23126088112007, + 269.819288861902, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -61.73126088112007, + 267.2212126505487, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -63.23126088112007, + 264.6231364391954, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -64.73126088112006, + 262.02506022784206, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931935 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -66.23126088112006, + 259.42698401648875, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -67.73126088112006, + 256.82890780513543, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -68.07784786224366, + 251.98643093109132, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -69.23126088112006, + 254.2308315937821, + -15.21829608552854 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -69.23126088112006, + 254.2308315937821, + -15.21829608552854 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -69.23126088112006, + 254.2308315937821, + -15.21829608552854 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -69.23126088112006, + 254.2308315937821, + -15.21829608552854 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -69.23126088112006, + 254.2308315937821, + -15.21829608552854 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -69.23126088112006, + 254.2308315937821, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -66.23126088112006, + 254.2308315937821, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -63.231260881120065, + 254.2308315937821, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -60.231260881120065, + 254.2308315937821, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -57.231260881120065, + 254.2308315937821, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -54.231260881120065, + 254.2308315937821, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -51.231260881120065, + 254.2308315937821, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -48.231260881120065, + 254.2308315937821, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -45.231260881120065, + 254.2308315937821, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -42.231260881120065, + 254.2308315937821, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -39.231260881120065, + 254.2308315937821, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -36.231260881120065, + 254.2308315937821, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -33.231260881120065, + 254.2308315937821, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -30.231260881120065, + 254.2308315937821, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -27.231260881120065, + 254.2308315937821, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -24.231260881120065, + 254.2308315937821, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -21.231260881120065, + 254.2308315937821, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -18.231260881120065, + 254.2308315937821, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -15.231260881120065, + 254.2308315937821, + -15.21829608552854 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -15.231260881120065, + 254.2308315937821, + -15.21829608552854 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -15.231260881120065, + 254.2308315937821, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -13.731260881120065, + 251.6327553824288, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -12.231260881120065, + 249.03467917107548, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -10.731260881120065, + 246.43660295972217, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -9.231260881120065, + 243.83852674836885, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -7.731260881120065, + 241.24045053701553, + -15.21829608552854 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -6.231260881120065, + 238.64237432566222, + -15.21829608552854 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.054965496063232, + 237.79356269836427, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-4-30_1691449122/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-4-30_1691449122/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f9bfebd2ffd1f402386ea04eb58700c427723efa --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-4-30_1691449122/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 16.83074322462206, + -148.80377288388564, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 18.33074322462206, + -146.20569667253233, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 19.83074322462206, + -143.607620461179, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 21.33074322462206, + -141.0095442498257, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 22.83074322462206, + -138.41146803847238, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 24.33074322462206, + -135.81339182711906, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 25.83074322462206, + -133.21531561576575, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 27.33074322462206, + -130.61723940441243, + -23.21462955650571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 27.33074322462206, + -130.61723940441243, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 29.928819435975377, + -129.11723940441243, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 32.52689564732869, + -127.61723940441243, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 35.12497185868201, + -126.11723940441243, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 37.723048070035325, + -124.61723940441243, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 40.32112428138864, + -123.11723940441243, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 42.91920049274196, + -121.61723940441243, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 45.51727670409527, + -120.11723940441243, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 48.11535291544859, + -118.61723940441243, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 50.713429126801906, + -117.11723940441243, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 53.31150533815522, + -115.61723940441243, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 55.90958154950854, + -114.11723940441243, + -23.21462955650571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 55.90958154950854, + -114.11723940441243, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 62.60805644989014, + -113.03417053222657, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 58.90958154950854, + -114.11723940441243, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 61.90958154950854, + -114.11723940441243, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 64.90958154950854, + -114.11723940441243, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 67.90958154950854, + -114.11723940441243, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 70.90958154950854, + -114.11723940441243, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 73.90958154950854, + -114.11723940441243, + -23.21462955650571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 73.90958154950854, + -114.11723940441243, + -23.21462955650571 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 73.90958154950854, + -114.11723940441243, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 75.40958154950854, + -116.71531561576575, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 76.90958154950854, + -119.31339182711906, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 78.40958154950854, + -121.91146803847238, + -23.21462955650571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 78.40958154950854, + -121.91146803847238, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 81.00765776086186, + -123.41146803847238, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 83.60573397221518, + -124.91146803847238, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 86.20381018356849, + -126.41146803847238, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 88.80188639492181, + -127.91146803847238, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 91.39996260627512, + -129.41146803847238, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 93.99803881762844, + -130.91146803847238, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 96.59611502898176, + -132.41146803847238, + -23.21462955650571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 99.19419124033507, + -133.91146803847238, + -23.21462955650571 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 102.75733251571656, + -133.33713722229004, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-48-24_1579068977/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-48-24_1579068977/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59d99fe0724d1b9f84a8c5998c525c12926cebce --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-48-24_1579068977/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -129.2926329164545, + -12.254210794211843, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -129.2926329164545, + -9.254210794211843, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -129.2926329164545, + -6.2542107942118434, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -129.2926329164545, + -3.2542107942118434, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -129.2926329164545, + -0.25421079421184345, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -129.2926329164545, + 2.7457892057881566, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -129.2926329164545, + 5.7457892057881566, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -129.2926329164545, + 8.745789205788157, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -129.2926329164545, + 11.745789205788157, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -129.2926329164545, + 14.745789205788157, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -129.2926329164545, + 17.745789205788157, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -129.2926329164545, + 20.745789205788157, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -129.2926329164545, + 23.745789205788157, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -129.2926329164545, + 26.745789205788157, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -129.2926329164545, + 29.745789205788157, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -129.2926329164545, + 32.74578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -129.2926329164545, + 35.74578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -129.2926329164545, + 38.74578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -129.2926329164545, + 41.74578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -129.2926329164545, + 44.74578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -129.2926329164545, + 47.74578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -129.2926329164545, + 50.74578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -131.383580493927, + 55.4392418384552, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -129.2926329164545, + 53.74578920578816, + -16.449837640973485 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -129.2926329164545, + 53.74578920578816, + -16.449837640973485 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -129.2926329164545, + 53.74578920578816, + -16.449837640973485 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -129.2926329164545, + 53.74578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -131.8907091278078, + 55.24578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -134.48878533916113, + 56.74578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -137.08686155051444, + 58.24578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -139.68493776186776, + 59.74578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -142.28301397322107, + 61.24578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -144.8810901845744, + 62.74578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -147.4791663959277, + 64.24578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -150.07724260728102, + 65.74578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -152.67531881863434, + 67.24578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -155.27339502998765, + 68.74578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -157.87147124134097, + 70.24578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -160.4695474526943, + 71.74578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -163.0676236640476, + 73.24578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -165.66569987540092, + 74.74578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -168.26377608675423, + 76.24578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -170.86185229810755, + 77.74578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -173.45992850946087, + 79.24578920578816, + -16.449837640973485 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -173.45992850946087, + 79.24578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -176.45992850946087, + 79.24578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -179.45992850946087, + 79.24578920578816, + -16.449837640973485 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -182.45992850946087, + 79.24578920578816, + -16.449837640973485 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -186.17330045700075, + 79.25256423950195, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-51-45_1030313563/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-51-45_1030313563/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4eb467a863bbf98241464920ccb1249f946e7d2f --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-51-45_1030313563/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -373.09988985553974, + 341.4497100510697, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -370.09988985553974, + 341.4497100510697, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -367.09988985553974, + 341.4497100510697, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -364.09988985553974, + 341.4497100510697, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -361.09988985553974, + 341.4497100510697, + -22.93956119227255 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -361.09988985553974, + 341.4497100510697, + -22.93956119227255 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -361.09988985553974, + 341.4497100510697, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -359.59988985553974, + 338.8516338397164, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -358.09988985553974, + 336.25355762836307, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -356.59988985553974, + 333.65548141700975, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -355.09988985553974, + 331.05740520565644, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -353.59988985553974, + 328.4593289943031, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -352.09988985553974, + 325.8612527829498, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -350.59988985553974, + 323.2631765715965, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -349.09988985553974, + 320.6651003602432, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -347.59988985553974, + 318.06702414888986, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -346.09988985553974, + 315.46894793753654, + -22.93956119227255 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -346.09988985553974, + 315.46894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -343.5018136441864, + 313.96894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -340.9037374328331, + 312.46894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -338.3056612214798, + 310.96894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -335.7075850101265, + 309.46894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -333.10950879877316, + 307.96894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -330.51143258741985, + 306.46894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -327.91335637606653, + 304.96894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -325.3152801647132, + 303.46894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -321.15925178527834, + 299.0595897674561, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -322.7172039533599, + 301.96894793753654, + -22.93956119227255 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -322.7172039533599, + 301.96894793753654, + -22.93956119227255 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -322.7172039533599, + 301.96894793753654, + -22.93956119227255 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -322.7172039533599, + 301.96894793753654, + -22.93956119227255 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -322.7172039533599, + 301.96894793753654, + -22.93956119227255 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -322.7172039533599, + 301.96894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -325.3152801647132, + 300.46894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -327.91335637606653, + 298.96894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -330.51143258741985, + 297.46894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -333.10950879877316, + 295.96894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -335.7075850101265, + 294.46894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -338.3056612214798, + 292.96894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -340.9037374328331, + 291.46894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -343.5018136441864, + 289.96894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -346.09988985553974, + 288.46894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -348.69796606689306, + 286.96894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -351.2960422782464, + 285.46894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -353.8941184895997, + 283.96894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -356.492194700953, + 282.46894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -359.0902709123063, + 280.96894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -361.68834712365964, + 279.46894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -364.28642333501296, + 277.96894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -366.88449954636627, + 276.46894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -369.4825757577196, + 274.96894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -372.0806519690729, + 273.46894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -374.6787281804262, + 271.96894793753654, + -22.93956119227255 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -374.6787281804262, + 271.96894793753654, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -376.1787281804262, + 269.3708717261832, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -377.6787281804262, + 266.7727955148299, + -22.93956119227255 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -379.1787281804262, + 264.1747193034766, + -22.93956119227255 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -382.3751014709473, + 263.42621479034426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-55-23_1671735990/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-55-23_1671735990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..782672ac35dd6bf93ca01f657206f0d884e2650a --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-55-23_1671735990/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -134.7153761201344, + 95.7150848053956, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -132.1172999087811, + 97.2150848053956, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -129.51922369742778, + 98.7150848053956, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -126.92114748607446, + 100.2150848053956, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -124.32307127472114, + 101.7150848053956, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -121.72499506336783, + 103.2150848053956, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -119.12691885201451, + 104.7150848053956, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -116.5288426406612, + 106.2150848053956, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -113.93076642930788, + 107.7150848053956, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -111.33269021795456, + 109.2150848053956, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -108.73461400660125, + 110.7150848053956, + -20.42306902317128 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -108.73461400660125, + 110.7150848053956, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -107.23461400660125, + 113.31316101674892, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -105.73461400660125, + 115.91123722810224, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -104.23461400660125, + 118.50931343945555, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -102.73461400660125, + 121.10738965080887, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -101.23461400660125, + 123.70546586216219, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -99.73461400660125, + 126.3035420735155, + -20.42306902317128 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -99.73461400660125, + 126.3035420735155, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -97.13653779524793, + 127.8035420735155, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -92.24793577194214, + 130.42960138320925, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -94.53846158389462, + 129.3035420735155, + -20.42306902317128 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -94.53846158389462, + 129.3035420735155, + -20.42306902317128 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -94.53846158389462, + 129.3035420735155, + -20.42306902317128 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -94.53846158389462, + 129.3035420735155, + -20.42306902317128 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -94.53846158389462, + 129.3035420735155, + -20.42306902317128 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -94.53846158389462, + 129.3035420735155, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -97.13653779524793, + 130.8035420735155, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -99.73461400660125, + 132.3035420735155, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -102.33269021795456, + 133.8035420735155, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -104.93076642930788, + 135.3035420735155, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -107.5288426406612, + 136.8035420735155, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -110.12691885201451, + 138.3035420735155, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -112.72499506336783, + 139.8035420735155, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -115.32307127472114, + 141.3035420735155, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -117.92114748607446, + 142.8035420735155, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -120.51922369742778, + 144.3035420735155, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -123.11729990878109, + 145.8035420735155, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -125.71537612013441, + 147.3035420735155, + -20.42306902317128 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -125.71537612013441, + 147.3035420735155, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -128.7153761201344, + 147.3035420735155, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -131.7153761201344, + 147.3035420735155, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -134.7153761201344, + 147.3035420735155, + -20.42306902317128 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -137.7153761201344, + 147.3035420735155, + -20.42306902317128 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -139.05165119171144, + 149.82844924926758, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-55-49_2010794583/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-55-49_2010794583/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e0642664cceb9fb13ec9d809cfb466d833282cd --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-55-49_2010794583/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -85.4085191640048, + 302.6302525832517, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -85.4085191640048, + 299.6302525832517, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -85.4085191640048, + 296.6302525832517, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -85.4085191640048, + 293.6302525832517, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -85.4085191640048, + 290.6302525832517, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -85.4085191640048, + 287.6302525832517, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -85.4085191640048, + 284.6302525832517, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -85.4085191640048, + 281.6302525832517, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -85.4085191640048, + 278.6302525832517, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -85.4085191640048, + 275.6302525832517, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -85.4085191640048, + 272.6302525832517, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -85.4085191640048, + 269.6302525832517, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -85.4085191640048, + 266.6302525832517, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -85.4085191640048, + 263.6302525832517, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -85.4085191640048, + 260.6302525832517, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -85.4085191640048, + 257.6302525832517, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -85.4085191640048, + 254.63025258325172, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -85.4085191640048, + 251.63025258325172, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -85.4085191640048, + 248.63025258325172, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -85.4085191640048, + 245.63025258325172, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -85.4085191640048, + 242.63025258325172, + -15.132842216184137 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -85.4085191640048, + 242.63025258325172, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -83.9085191640048, + 240.0321763718984, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -82.4085191640048, + 237.43410016054509, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -80.9085191640048, + 234.83602394919177, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -79.4085191640048, + 232.23794773783845, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -77.9085191640048, + 229.63987152648514, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -78.11547446250916, + 225.18597507476807, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -76.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -76.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -76.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -76.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -73.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -70.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -67.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -64.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -61.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -58.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -55.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -52.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -49.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -46.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -43.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -40.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -37.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -34.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -31.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -28.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -25.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -22.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -22.4085191640048, + 227.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -19.810442952651485, + 228.54179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -17.21236674129817, + 230.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -14.614290529944853, + 231.54179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -12.016214318591537, + 233.04179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -9.41813810723822, + 234.54179531513182, + -15.132842216184137 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -6.820061895884905, + 236.04179531513182, + -15.132842216184137 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.054965496063232, + 237.79356269836427, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-57-11_1204754116/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-57-11_1204754116/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ddcf92de352a7f25fae1392781415f7d9eaef48c --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-57-11_1204754116/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 49.927423592655714, + 413.72646006881666, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 46.927423592655714, + 413.72646006881666, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 43.927423592655714, + 413.72646006881666, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 40.927423592655714, + 413.72646006881666, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 37.927423592655714, + 413.72646006881666, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 34.927423592655714, + 413.72646006881666, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 31.927423592655714, + 413.72646006881666, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 28.927423592655714, + 413.72646006881666, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 25.927423592655714, + 413.72646006881666, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 22.927423592655714, + 413.72646006881666, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 19.927423592655714, + 413.72646006881666, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 16.927423592655714, + 413.72646006881666, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 13.927423592655714, + 413.72646006881666, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 10.927423592655714, + 413.72646006881666, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 7.927423592655714, + 413.72646006881666, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4.927423592655714, + 413.72646006881666, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1.927423592655714, + 413.72646006881666, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1.072576407344286, + 413.72646006881666, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.251102495193482, + 412.3764583587647, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -4.072576407344286, + 413.72646006881666, + -18.195082585210077 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -4.072576407344286, + 413.72646006881666, + -18.195082585210077 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -4.072576407344286, + 413.72646006881666, + -18.195082585210077 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -4.072576407344286, + 413.72646006881666, + -18.195082585210077 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -4.072576407344286, + 413.72646006881666, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -5.572576407344285, + 411.12838385746335, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -7.072576407344284, + 408.53030764611003, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -8.572576407344284, + 405.9322314347567, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -10.072576407344284, + 403.3341552234034, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -11.572576407344284, + 400.7360790120501, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -13.072576407344284, + 398.13800280069677, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -14.572576407344284, + 395.53992658934345, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -16.072576407344283, + 392.94185037799014, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393195 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -17.572576407344283, + 390.3437741666368, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -19.072576407344283, + 387.7456979552835, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -20.572576407344283, + 385.1476217439302, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -22.072576407344283, + 382.5495455325769, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -23.572576407344283, + 379.95146932122356, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -25.072576407344283, + 377.35339310987024, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -26.572576407344283, + 374.7553168985169, + -18.195082585210077 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -28.072576407344283, + 372.1572406871636, + -18.195082585210077 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -29.34419298171997, + 370.07065830230715, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-7-2_204102747/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-7-2_204102747/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94546a05a93af6c91a1ea370fa2f8d2100020e11 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-7-2_204102747/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -392.9994818570588, + 120.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -389.9994818570588, + 120.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -386.9994818570588, + 120.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -383.9994818570588, + 120.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -380.9994818570588, + 120.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -377.9994818570588, + 120.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -374.9994818570588, + 120.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -371.9994818570588, + 120.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -368.9994818570588, + 120.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -365.9994818570588, + 120.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -362.9994818570588, + 120.43815674642002, + -15.085413088619214 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -362.9994818570588, + 120.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -360.4014056457055, + 121.93815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -357.8033294343522, + 123.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -355.20525322299886, + 124.93815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -352.60717701164555, + 126.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -350.00910080029223, + 127.93815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -332.4228313446045, + 133.30773601531982, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -347.4110245889389, + 129.43815674642002, + -15.085413088619214 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -347.4110245889389, + 129.43815674642002, + -15.085413088619214 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -347.4110245889389, + 129.43815674642002, + -15.085413088619214 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -347.4110245889389, + 129.43815674642002, + -15.085413088619214 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -347.4110245889389, + 129.43815674642002, + -15.085413088619214 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -347.4110245889389, + 129.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -350.00910080029223, + 130.93815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -352.60717701164555, + 132.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -355.20525322299886, + 133.93815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -357.8033294343522, + 135.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -360.4014056457055, + 136.93815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -362.9994818570588, + 138.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -365.5975580684121, + 139.93815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -368.19563427976544, + 141.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -370.79371049111876, + 142.93815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -373.3917867024721, + 144.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -375.9898629138254, + 145.93815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -378.5879391251787, + 147.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -381.186015336532, + 148.93815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -383.78409154788534, + 150.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -386.38216775923865, + 151.93815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -388.98024397059197, + 153.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -391.5783201819453, + 154.93815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -394.1763963932986, + 156.43815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -396.7744726046519, + 157.93815674642002, + -15.085413088619214 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -396.7744726046519, + 157.93815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -399.7744726046519, + 157.93815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -402.7744726046519, + 157.93815674642002, + -15.085413088619214 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -405.7744726046519, + 157.93815674642002, + -15.085413088619214 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -408.4424297332764, + 159.69162826538087, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-7-50_595311776/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-7-50_595311776/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b5988b331504109ef471b9f7dbebc124ec1abadf --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_6-7-50_595311776/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 149.50234579715485, + 155.1597165490976, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 151.00234579715485, + 152.56164033774428, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 152.50234579715485, + 149.96356412639096, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 154.00234579715485, + 147.36548791503765, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 155.50234579715485, + 144.76741170368433, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 157.00234579715485, + 142.16933549233102, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 158.50234579715485, + 139.5712592809777, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 160.00234579715485, + 136.97318306962438, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 161.50234579715485, + 134.37510685827107, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 163.00234579715485, + 131.77703064691775, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 164.50234579715485, + 129.17895443556444, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 166.00234579715485, + 126.58087822421112, + -16.67614719892792 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 166.00234579715485, + 126.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 166.00234579715485, + 123.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 166.00234579715485, + 120.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 166.00234579715485, + 117.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 166.00234579715485, + 114.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 166.00234579715485, + 111.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 166.00234579715485, + 108.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 165.80752325057983, + 103.6218903541565, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 166.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 166.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 166.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 166.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 166.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 169.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 172.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 175.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 178.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 181.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 184.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 187.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 190.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 193.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 196.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 199.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 202.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 205.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 208.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 211.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 214.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 217.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 220.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 223.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 226.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 229.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 232.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 235.00234579715485, + 105.58087822421112, + -16.67614719892792 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 237.49442634582522, + 103.37022337913514, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-19-13_1043388777/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-19-13_1043388777/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b2a0350294dcb0e6e38c718121d7d2e40b5d926a --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-19-13_1043388777/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 29.055166570575516, + 362.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 32.055166570575516, + 362.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 35.055166570575516, + 362.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 38.055166570575516, + 362.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 41.055166570575516, + 362.2982955309515, + -16.697454122730345 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 41.055166570575516, + 362.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 43.65324278192883, + 360.7982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 46.25131899328215, + 359.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 48.849395204635464, + 357.7982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 51.44747141598878, + 356.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 54.045547627342096, + 354.7982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 56.64362383869541, + 353.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 59.24170005004873, + 351.7982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 61.839776261402044, + 350.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 64.43785247275537, + 348.7982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982977 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 67.03592868410868, + 347.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 69.634004895462, + 345.7982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 72.23208110681531, + 344.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 74.83015731816863, + 342.7982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 77.42823352952195, + 341.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 80.02630974087526, + 339.7982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 82.62438595222858, + 338.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 85.2224621635819, + 336.7982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 89.44900555610657, + 332.70357608795166, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 87.82053837493521, + 335.2982955309515, + -16.697454122730345 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 87.82053837493521, + 335.2982955309515, + -16.697454122730345 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 87.82053837493521, + 335.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 90.82053837493521, + 335.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 93.82053837493521, + 335.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 96.82053837493521, + 335.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 99.82053837493521, + 335.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 102.82053837493521, + 335.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 105.82053837493521, + 335.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 108.82053837493521, + 335.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 111.82053837493521, + 335.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 114.82053837493521, + 335.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 117.82053837493521, + 335.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 120.82053837493521, + 335.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 123.82053837493521, + 335.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 126.82053837493521, + 335.2982955309515, + -16.697454122730345 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 126.82053837493521, + 335.2982955309515, + -16.697454122730345 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 126.82053837493521, + 335.2982955309515, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 128.3205383749352, + 337.89637174230484, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 129.8205383749352, + 340.49444795365815, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 131.3205383749352, + 343.09252416501147, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 132.8205383749352, + 345.6906003763648, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 134.3205383749352, + 348.2886765877181, + -16.697454122730345 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 134.3205383749352, + 348.2886765877181, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 136.91861458628853, + 349.7886765877181, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 139.51669079764184, + 351.2886765877181, + -16.697454122730345 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 142.11476700899516, + 352.7886765877181, + -16.697454122730345 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 145.60676317214967, + 352.5146116256714, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-22-12_1934392735/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-22-12_1934392735/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..382d9a9086e50409f042f6d0950d985ff520b48b --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-22-12_1934392735/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 29.496047275924155, + 204.8390150194435, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 32.09412348727747, + 203.3390150194435, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 34.69219969863079, + 201.8390150194435, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 37.2902759099841, + 200.3390150194435, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 39.88835212133742, + 198.8390150194435, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 42.486428332690735, + 197.3390150194435, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 45.08450454404405, + 195.8390150194435, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 47.68258075539737, + 194.3390150194435, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 50.28065696675068, + 192.8390150194435, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 52.878733178104, + 191.3390150194435, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 55.476809389457316, + 189.8390150194435, + -20.888468046263053 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 55.476809389457316, + 189.8390150194435, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 56.976809389457316, + 187.2409388080902, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 58.476809389457316, + 184.64286259673688, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 59.976809389457316, + 182.04478638538356, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 61.476809389457316, + 179.44671017403024, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 62.976809389457316, + 176.84863396267693, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 64.47680938945732, + 174.2505577513236, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 65.97680938945732, + 171.6524815399703, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 67.47680938945732, + 169.05440532861698, + -20.888468046263053 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 67.47680938945732, + 169.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 70.07488560081063, + 167.55440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 74.72643995285034, + 163.1783983230591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 72.67296181216395, + 166.05440532861698, + -20.888468046263053 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 72.67296181216395, + 166.05440532861698, + -20.888468046263053 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 72.67296181216395, + 166.05440532861698, + -20.888468046263053 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 72.67296181216395, + 166.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 72.67296181216395, + 163.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 72.67296181216395, + 160.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 72.67296181216395, + 157.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 72.67296181216395, + 154.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 72.67296181216395, + 151.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 72.67296181216395, + 148.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 72.67296181216395, + 145.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 72.67296181216395, + 142.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 72.67296181216395, + 139.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 72.67296181216395, + 136.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 72.67296181216395, + 133.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 72.67296181216395, + 130.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 72.67296181216395, + 127.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 72.67296181216395, + 124.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 72.67296181216395, + 121.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 72.67296181216395, + 118.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 72.67296181216395, + 115.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 72.67296181216395, + 112.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 72.67296181216395, + 109.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 72.67296181216395, + 106.05440532861698, + -20.888468046263053 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 72.67296181216395, + 106.05440532861698, + -20.888468046263053 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 72.67296181216395, + 106.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 70.07488560081063, + 104.55440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 67.47680938945732, + 103.05440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 64.878733178104, + 101.55440532861698, + -20.888468046263053 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 62.28065696675068, + 100.05440532861698, + -20.888468046263053 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 61.79868612289429, + 98.42731351852417, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-22-39_620089368/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-22-39_620089368/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..448083afb05a7d5ab8e8d29a4bf02ab797cb87cb --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-22-39_620089368/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -32.64713692705635, + 374.4671701684512, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -34.14713692705635, + 377.06524637980453, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -35.64713692705635, + 379.66332259115785, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -37.14713692705635, + 382.26139880251117, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -38.64713692705635, + 384.8594750138645, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -40.14713692705635, + 387.4575512252178, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -41.64713692705635, + 390.0556274365711, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -43.14713692705635, + 392.65370364792443, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -44.64713692705635, + 395.25177985927775, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -46.14713692705635, + 397.84985607063106, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -47.64713692705635, + 400.4479322819844, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -49.14713692705635, + 403.0460084933377, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -50.64713692705635, + 405.644084704691, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -52.14713692705635, + 408.2421609160443, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -53.64713692705635, + 410.84023712739764, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -55.14713692705635, + 413.43831333875096, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -56.64713692705635, + 416.0363895501043, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -58.14713692705635, + 418.6344657614576, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -59.64713692705635, + 421.2325419728109, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -61.14713692705635, + 423.8306181841642, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -62.64713692705635, + 426.42869439551754, + -20.87606414882047 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -62.64713692705635, + 426.42869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -62.64713692705635, + 429.42869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -62.64713692705635, + 432.42869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -63.5878408908844, + 436.78047485351567, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -62.64713692705635, + 435.42869439551754, + -20.87606414882047 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -62.64713692705635, + 435.42869439551754, + -20.87606414882047 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -62.64713692705635, + 435.42869439551754, + -20.87606414882047 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -62.64713692705635, + 435.42869439551754, + -20.87606414882047 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -62.64713692705635, + 435.42869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -59.64713692705635, + 435.42869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -56.64713692705635, + 435.42869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -53.64713692705635, + 435.42869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -50.64713692705635, + 435.42869439551754, + -20.87606414882047 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -50.64713692705635, + 435.42869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -48.049060715703035, + 433.92869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -45.45098450434972, + 432.42869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -42.8529082929964, + 430.92869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -40.25483208164309, + 429.42869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -37.65675587028977, + 427.92869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -35.058679658936455, + 426.42869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -32.46060344758314, + 424.92869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -29.862527236229823, + 423.42869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -27.264451024876507, + 421.92869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -24.66637481352319, + 420.42869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -22.068298602169875, + 418.92869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -19.47022239081656, + 417.42869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -16.872146179463243, + 415.92869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -14.274069968109927, + 414.42869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -11.675993756756611, + 412.92869439551754, + -20.87606414882047 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -11.675993756756611, + 412.92869439551754, + -20.87606414882047 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -8.675993756756611, + 412.92869439551754, + -20.87606414882047 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.251102495193482, + 412.3764583587647, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-38-14_1489001354/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-38-14_1489001354/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..62142b9816ed3c528f9ff447ed0e538a70d94dce --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-38-14_1489001354/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 197.67671762682912, + 118.54241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 194.67671762682912, + 118.54241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 191.67671762682912, + 118.54241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 188.67671762682912, + 118.54241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 185.67671762682912, + 118.54241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 182.67671762682912, + 118.54241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 179.67671762682912, + 118.54241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 176.67671762682912, + 118.54241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 173.67671762682912, + 118.54241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 170.67671762682912, + 118.54241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 167.67671762682912, + 118.54241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 164.67671762682912, + 118.54241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 161.67671762682912, + 118.54241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 158.67671762682912, + 118.54241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 155.67671762682912, + 118.54241134731166, + -20.823626393250265 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 155.67671762682912, + 118.54241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 153.0786414154758, + 120.04241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 150.48056520412248, + 121.54241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 147.88248899276917, + 123.04241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 145.28441278141585, + 124.54241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 142.68633657006254, + 126.04241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 140.08826035870922, + 127.54241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 137.4901841473559, + 129.04241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 134.8921079360026, + 130.54241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 132.29403172464927, + 132.04241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 129.69595551329596, + 133.54241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 126.12591409683228, + 137.03480195999146, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 127.09787930194264, + 135.04241134731166, + -20.823626393250265 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 127.09787930194264, + 135.04241134731166, + -20.823626393250265 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 127.09787930194264, + 135.04241134731166, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 125.59787930194264, + 137.64048755866497, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 124.09787930194264, + 140.2385637700183, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 122.59787930194264, + 142.8366399813716, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 121.09787930194264, + 145.43471619272492, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 119.59787930194264, + 148.03279240407824, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 118.09787930194264, + 150.63086861543155, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 116.59787930194264, + 153.22894482678487, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 115.09787930194264, + 155.82702103813818, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 113.59787930194264, + 158.4250972494915, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 112.09787930194264, + 161.02317346084482, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 110.59787930194264, + 163.62124967219813, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 109.09787930194264, + 166.21932588355145, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 107.59787930194264, + 168.81740209490476, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 106.09787930194264, + 171.41547830625808, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 104.59787930194264, + 174.0135545176114, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 103.09787930194264, + 176.6116307289647, + -20.823626393250265 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 103.09787930194264, + 176.6116307289647, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 103.09787930194264, + 179.6116307289647, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 103.09787930194264, + 182.6116307289647, + -20.823626393250265 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 103.09787930194264, + 185.6116307289647, + -20.823626393250265 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 101.93407335281373, + 187.48899812698366, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-49-19_916018859/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-49-19_916018859/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..89c9a6b4b2f2c4f9658e047f8ef8b712a486ebad --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-49-19_916018859/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -285.1917579123829, + 372.2495101477215, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -285.1917579123829, + 369.2495101477215, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -285.1917579123829, + 366.2495101477215, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -285.1917579123829, + 363.2495101477215, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -285.1917579123829, + 360.2495101477215, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -285.1917579123829, + 357.2495101477215, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -285.1917579123829, + 354.2495101477215, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -285.1917579123829, + 351.2495101477215, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -285.1917579123829, + 348.2495101477215, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -285.1917579123829, + 345.2495101477215, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -285.1917579123829, + 342.2495101477215, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -285.1917579123829, + 339.2495101477215, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -285.1917579123829, + 336.2495101477215, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -285.1917579123829, + 333.2495101477215, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -285.1917579123829, + 330.2495101477215, + -24.982192594988945 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -285.1917579123829, + 330.2495101477215, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -286.6917579123829, + 327.65143393636816, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -288.1917579123829, + 325.05335772501485, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -289.6917579123829, + 322.45528151366153, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -291.1917579123829, + 319.8572053023082, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -292.6917579123829, + 317.2591290909549, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -294.1917579123829, + 314.6610528796016, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -295.6917579123829, + 312.06297666824827, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -297.1917579123829, + 309.46490045689495, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -300.1048927307129, + 306.1219676971436, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -298.6917579123829, + 306.86682424554164, + -24.982192594988945 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -298.6917579123829, + 306.86682424554164, + -24.982192594988945 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -298.6917579123829, + 306.86682424554164, + -24.982192594988945 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -298.6917579123829, + 306.86682424554164, + -24.982192594988945 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -298.6917579123829, + 306.86682424554164, + -24.982192594988945 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -298.6917579123829, + 306.86682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -295.6917579123829, + 306.86682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -292.6917579123829, + 306.86682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -289.6917579123829, + 306.86682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -286.6917579123829, + 306.86682424554164, + -24.982192594988945 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -286.6917579123829, + 306.86682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -284.0936817010296, + 305.36682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -281.4956054896763, + 303.86682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -278.89752927832296, + 302.36682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -276.29945306696965, + 300.86682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -273.70137685561633, + 299.36682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -271.103300644263, + 297.86682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -268.5052244329097, + 296.36682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -265.9071482215564, + 294.86682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -263.30907201020307, + 293.36682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -260.71099579884975, + 291.86682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -258.11291958749644, + 290.36682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -255.51484337614312, + 288.86682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -252.9167671647898, + 287.36682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -250.3186909534365, + 285.86682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -247.72061474208317, + 284.36682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -245.12253853072986, + 282.86682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -242.52446231937654, + 281.36682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -239.92638610802322, + 279.86682424554164, + -24.982192594988945 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -237.3283098966699, + 278.36682424554164, + -24.982192594988945 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -236.15102710723878, + 277.2074661254883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-57-47_1931706506/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-57-47_1931706506/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b1bf778714dc44ef51b5bf54960e6ff1bb10401e --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-57-47_1931706506/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 40.9944184349289, + 290.15630602333306, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 38.39634222357559, + 288.65630602333306, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 35.79826601222227, + 287.15630602333306, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 33.200189800868955, + 285.65630602333306, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 30.60211358951564, + 284.15630602333306, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 28.004037378162323, + 282.65630602333306, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 25.405961166809007, + 281.15630602333306, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 22.80788495545569, + 279.65630602333306, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 20.209808744102375, + 278.15630602333306, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 17.61173253274906, + 276.65630602333306, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 15.013656321395743, + 275.15630602333306, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 12.415580110042427, + 273.65630602333306, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 9.817503898689111, + 272.15630602333306, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 7.219427687335795, + 270.65630602333306, + -19.745493195045547 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 7.219427687335795, + 270.65630602333306, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 4.219427687335795, + 270.65630602333306, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1.219427687335795, + 270.65630602333306, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -4.862148499488831, + 268.6817756652832, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1.780572312664205, + 270.65630602333306, + -19.745493195045547 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1.780572312664205, + 270.65630602333306, + -19.745493195045547 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1.780572312664205, + 270.65630602333306, + -19.745493195045547 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1.780572312664205, + 270.65630602333306, + -19.745493195045547 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1.780572312664205, + 270.65630602333306, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -3.280572312664204, + 268.05822981197974, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -4.780572312664203, + 265.4601536006264, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -6.280572312664202, + 262.8620773892731, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -7.7805723126642015, + 260.2640011779198, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -9.280572312664201, + 257.6659249665665, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -10.780572312664201, + 255.06784875521316, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -12.280572312664201, + 252.46977254385985, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -13.780572312664201, + 249.87169633250653, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -15.280572312664201, + 247.27362012115321, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -16.7805723126642, + 244.6755439097999, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -18.2805723126642, + 242.07746769844658, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -19.7805723126642, + 239.47939148709327, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -21.2805723126642, + 236.88131527573995, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -22.7805723126642, + 234.28323906438663, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -24.2805723126642, + 231.68516285303332, + -19.745493195045547 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -24.2805723126642, + 231.68516285303332, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -24.2805723126642, + 228.68516285303332, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -24.2805723126642, + 225.68516285303332, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -24.2805723126642, + 222.68516285303332, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -24.2805723126642, + 219.68516285303332, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -24.2805723126642, + 216.68516285303332, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -24.2805723126642, + 213.68516285303332, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -24.2805723126642, + 210.68516285303332, + -19.745493195045547 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -24.2805723126642, + 207.68516285303332, + -19.745493195045547 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -24.924080467224123, + 204.11226043701174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-58-41_900104667/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-58-41_900104667/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9559613393b0bdc4c5e7e757be3a903538cba006 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-58-41_900104667/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 194.23844570460864, + -7.927921572915864, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 195.73844570460864, + -5.329845361562548, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 197.23844570460864, + -2.7317691502092316, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 198.73844570460864, + -0.1336929388559156, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 200.23844570460864, + 2.4643832724974004, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 201.73844570460864, + 5.062459483850716, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 203.23844570460864, + 7.660535695204032, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 204.73844570460864, + 10.258611906557348, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 206.23844570460864, + 12.856688117910664, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 207.73844570460864, + 15.45476432926398, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 209.23844570460864, + 18.052840540617296, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 210.73844570460864, + 20.650916751970612, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 212.23844570460864, + 23.24899296332393, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 213.73844570460864, + 25.847069174677245, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 215.23844570460864, + 28.44514538603056, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 216.73844570460864, + 31.043221597383877, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 218.23844570460864, + 33.64129780873719, + -23.12921996160766 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 218.23844570460864, + 33.64129780873719, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 218.23844570460864, + 36.64129780873719, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 218.23844570460864, + 39.64129780873719, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 218.23844570460864, + 42.64129780873719, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 218.23844570460864, + 45.64129780873719, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 218.32671661376955, + 52.17227687835694, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 218.23844570460864, + 48.64129780873719, + -23.12921996160766 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 218.23844570460864, + 48.64129780873719, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 216.73844570460864, + 51.23937402009051, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 215.23844570460864, + 53.837450231443825, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 213.73844570460864, + 56.43552644279714, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 212.23844570460864, + 59.03360265415046, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 210.73844570460864, + 61.63167886550377, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 209.23844570460864, + 64.22975507685709, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 207.73844570460864, + 66.8278312882104, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 206.23844570460864, + 69.42590749956372, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 204.73844570460864, + 72.02398371091704, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 203.23844570460864, + 74.62205992227035, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 201.73844570460864, + 77.22013613362367, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 200.23844570460864, + 79.81821234497698, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 198.73844570460864, + 82.4162885563303, + -23.12921996160766 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 198.73844570460864, + 82.4162885563303, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 196.14036949325532, + 83.9162885563303, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 193.542293281902, + 85.4162885563303, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 190.9442170705487, + 86.9162885563303, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 188.34614085919537, + 88.4162885563303, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 185.74806464784206, + 89.9162885563303, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 183.14998843648874, + 91.4162885563303, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 180.55191222513542, + 92.9162885563303, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 177.9538360137821, + 94.4162885563303, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 175.3557598024288, + 95.9162885563303, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 172.75768359107548, + 97.4162885563303, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 170.15960737972216, + 98.9162885563303, + -23.12921996160766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 167.56153116836884, + 100.4162885563303, + -23.12921996160766 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 165.80752325057983, + 103.6218903541565, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-7-35_216220853/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-7-35_216220853/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0a5663d5b1418e3d4578381bedfd996833ef2323 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-7-35_216220853/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 136.2258516187045, + -4.340831761624063, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 139.2258516187045, + -4.340831761624063, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 142.2258516187045, + -4.340831761624063, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 145.2258516187045, + -4.340831761624063, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 148.2258516187045, + -4.340831761624063, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 151.2258516187045, + -4.340831761624063, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 154.2258516187045, + -4.340831761624063, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 157.2258516187045, + -4.340831761624063, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 160.2258516187045, + -4.340831761624063, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 163.2258516187045, + -4.340831761624063, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 166.2258516187045, + -4.340831761624063, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 169.2258516187045, + -4.340831761624063, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 172.2258516187045, + -4.340831761624063, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 175.2258516187045, + -4.340831761624063, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 178.2258516187045, + -4.340831761624063, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 181.2258516187045, + -4.340831761624063, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 184.2258516187045, + -4.340831761624063, + -21.513257771597242 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 184.2258516187045, + -4.340831761624063, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 186.8239278300578, + -2.840831761624063, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 193.10110254287721, + -0.9578603744506836, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 189.42200404141113, + -1.3408317616240633, + -21.513257771597242 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 189.42200404141113, + -1.3408317616240633, + -21.513257771597242 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 189.42200404141113, + -1.3408317616240633, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 190.92200404141113, + 1.2572444497292528, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 192.42200404141113, + 3.855320661082569, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 193.92200404141113, + 6.453396872435885, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 195.42200404141113, + 9.051473083789201, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 196.92200404141113, + 11.649549295142517, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 198.42200404141113, + 14.247625506495833, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 199.92200404141113, + 16.84570171784915, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 201.42200404141113, + 19.443777929202465, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 202.92200404141113, + 22.04185414055578, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 204.42200404141113, + 24.639930351909097, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 205.92200404141113, + 27.238006563262413, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 207.42200404141113, + 29.83608277461573, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 208.92200404141113, + 32.43415898596905, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965983 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 210.42200404141113, + 35.032235197322365, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 211.92200404141113, + 37.63031140867568, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 213.42200404141113, + 40.228387620029, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 214.92200404141113, + 42.82646383138231, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 216.42200404141113, + 45.42454004273563, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 217.92200404141113, + 48.022616254088945, + -21.513257771597242 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 219.42200404141113, + 50.62069246544226, + -21.513257771597242 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 218.32671661376955, + 52.17227687835694, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-7-58_699460008/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-7-58_699460008/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b326efc07a78eb5b6489601532de7de0e9af6cb4 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_7-7-58_699460008/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 124.06665259398528, + 156.47255790009726, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 124.06665259398528, + 153.47255790009726, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 124.06665259398528, + 150.47255790009726, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 124.06665259398528, + 147.47255790009726, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 124.06665259398528, + 144.47255790009726, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 124.06665259398528, + 141.47255790009726, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 124.06665259398528, + 138.47255790009726, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 124.06665259398528, + 135.47255790009726, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 124.06665259398528, + 132.47255790009726, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 124.06665259398528, + 129.47255790009726, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 124.06665259398528, + 126.47255790009726, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 124.06665259398528, + 123.47255790009726, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 124.06665259398528, + 120.47255790009726, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 124.06665259398528, + 117.47255790009726, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 124.06665259398528, + 114.47255790009726, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 124.06665259398528, + 111.47255790009726, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 124.06665259398528, + 108.47255790009726, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 124.06665259398528, + 105.47255790009726, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 124.06665259398528, + 102.47255790009726, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 124.06665259398528, + 99.47255790009726, + -20.40972297249484 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 124.06665259398528, + 99.47255790009726, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 125.56665259398528, + 96.87448168874394, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 127.06665259398528, + 94.27640547739063, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 128.56665259398528, + 91.67832926603731, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 130.06665259398528, + 89.080253054684, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 131.56665259398528, + 86.48217684333068, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 131.85336561203005, + 81.29258055686951, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 133.06665259398528, + 83.88410063197736, + -20.40972297249484 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 133.06665259398528, + 83.88410063197736, + -20.40972297249484 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 133.06665259398528, + 83.88410063197736, + -20.40972297249484 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 133.06665259398528, + 83.88410063197736, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 136.06665259398528, + 83.88410063197736, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 139.06665259398528, + 83.88410063197736, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 142.06665259398528, + 83.88410063197736, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 145.06665259398528, + 83.88410063197736, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 148.06665259398528, + 83.88410063197736, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 151.06665259398528, + 83.88410063197736, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 154.06665259398528, + 83.88410063197736, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 157.06665259398528, + 83.88410063197736, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 160.06665259398528, + 83.88410063197736, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 163.06665259398528, + 83.88410063197736, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 166.06665259398528, + 83.88410063197736, + -20.40972297249484 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 166.06665259398528, + 83.88410063197736, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 168.6647288053386, + 82.38410063197736, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 171.2628050166919, + 80.88410063197736, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 173.86088122804523, + 79.38410063197736, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 176.45895743939855, + 77.88410063197736, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 179.05703365075186, + 76.38410063197736, + -20.40972297249484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 181.65510986210518, + 74.88410063197736, + -20.40972297249484 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 184.7513246536255, + 73.33496251106263, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-1-10_991039875/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-1-10_991039875/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..37283d145731eb9829212e09c0f978c4ca5dff64 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-1-10_991039875/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -284.8974885928619, + 66.92282523139025, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -284.8974885928619, + 69.92282523139025, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -284.8974885928619, + 72.92282523139025, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -284.8974885928619, + 75.92282523139025, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -284.8974885928619, + 78.92282523139025, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -284.8974885928619, + 81.92282523139025, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -284.8974885928619, + 84.92282523139025, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -284.8974885928619, + 87.92282523139025, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -284.8974885928619, + 90.92282523139025, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -284.8974885928619, + 93.92282523139025, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -284.8974885928619, + 96.92282523139025, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -284.8974885928619, + 99.92282523139025, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -284.8974885928619, + 102.92282523139025, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -284.8974885928619, + 105.92282523139025, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -284.8974885928619, + 108.92282523139025, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -284.8974885928619, + 111.92282523139025, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -284.8974885928619, + 114.92282523139025, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -284.8974885928619, + 117.92282523139025, + -17.08018734271918 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -284.8974885928619, + 117.92282523139025, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -283.3974885928619, + 120.52090144274356, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -281.8974885928619, + 123.11897765409688, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -278.29589424133303, + 125.47306270599366, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -280.3974885928619, + 125.7170538654502, + -17.08018734271918 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -280.3974885928619, + 125.7170538654502, + -17.08018734271918 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -280.3974885928619, + 125.7170538654502, + -17.08018734271918 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -280.3974885928619, + 125.7170538654502, + -17.08018734271918 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -280.3974885928619, + 125.7170538654502, + -17.08018734271918 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -280.3974885928619, + 125.7170538654502, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -283.3974885928619, + 125.7170538654502, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -286.3974885928619, + 125.7170538654502, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -289.3974885928619, + 125.7170538654502, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -292.3974885928619, + 125.7170538654502, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -295.3974885928619, + 125.7170538654502, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -298.3974885928619, + 125.7170538654502, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -301.3974885928619, + 125.7170538654502, + -17.08018734271918 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -301.3974885928619, + 125.7170538654502, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -303.99556480421523, + 127.2170538654502, + -17.08018734271918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -306.59364101556855, + 128.7170538654502, + -17.08018734271918 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -332.4228313446045, + 133.30773601531982, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-14-10_562395735/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-14-10_562395735/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d40f6c23fa64ad1b26913ce6cfeafaca55b6dae4 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-14-10_562395735/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -290.6367170465017, + 166.31890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -293.234793257855, + 164.81890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -295.83286946920833, + 163.31890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -298.43094568056165, + 161.81890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -301.02902189191497, + 160.31890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -303.6270981032683, + 158.81890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -306.2251743146216, + 157.31890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -308.8232505259749, + 155.81890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -311.42132673732823, + 154.31890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -314.01940294868155, + 152.81890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -316.61747916003486, + 151.31890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -319.2155553713882, + 149.81890513796668, + -23.92039922483397 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -319.2155553713882, + 149.81890513796668, + -23.92039922483397 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -319.2155553713882, + 149.81890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -319.2155553713882, + 146.81890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -332.4228313446045, + 133.30773601531982, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -319.2155553713882, + 143.81890513796668, + -23.92039922483397 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -319.2155553713882, + 143.81890513796668, + -23.92039922483397 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -319.2155553713882, + 143.81890513796668, + -23.92039922483397 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -319.2155553713882, + 143.81890513796668, + -23.92039922483397 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -319.2155553713882, + 143.81890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -316.2155553713882, + 143.81890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -313.2155553713882, + 143.81890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -310.2155553713882, + 143.81890513796668, + -23.92039922483397 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -310.2155553713882, + 143.81890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -307.61747916003486, + 142.31890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -305.01940294868155, + 140.81890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -302.42132673732823, + 139.31890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -299.8232505259749, + 137.81890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -297.2251743146216, + 136.31890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -294.6270981032683, + 134.81890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -292.02902189191497, + 133.31890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -289.43094568056165, + 131.81890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -286.83286946920833, + 130.31890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -284.234793257855, + 128.81890513796668, + -23.92039922483397 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -281.6367170465017, + 127.31890513796668, + -23.92039922483397 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -278.29589424133303, + 125.47306270599366, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-25-30_1499150323/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-25-30_1499150323/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..31f07db640a32aff7d86b94617c1ec9b460c397c --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-25-30_1499150323/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -231.6625939532575, + 150.6882882229824, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -231.6625939532575, + 147.6882882229824, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -231.6625939532575, + 144.6882882229824, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -231.6625939532575, + 141.6882882229824, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -231.6625939532575, + 138.6882882229824, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -231.6625939532575, + 135.6882882229824, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -231.6625939532575, + 132.6882882229824, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -231.6625939532575, + 129.6882882229824, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -231.6625939532575, + 126.68828822298241, + -16.927207869894794 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -231.6625939532575, + 126.68828822298241, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -233.1625939532575, + 124.09021201162909, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -234.6625939532575, + 121.49213580027578, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -236.1625939532575, + 118.89405958892246, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -237.6625939532575, + 116.29598337756914, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -239.1625939532575, + 113.69790716621583, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -240.6625939532575, + 111.09983095486251, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -242.1625939532575, + 108.5017547435092, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -244.231640625, + 102.10916147232057, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -243.6625939532575, + 105.90367853215588, + -16.927207869894794 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -243.6625939532575, + 105.90367853215588, + -16.927207869894794 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -243.6625939532575, + 105.90367853215588, + -16.927207869894794 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -243.6625939532575, + 105.90367853215588, + -16.927207869894794 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -243.6625939532575, + 105.90367853215588, + -16.927207869894794 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -243.6625939532575, + 105.90367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -240.6625939532575, + 105.90367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -237.6625939532575, + 105.90367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -234.6625939532575, + 105.90367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -231.6625939532575, + 105.90367853215588, + -16.927207869894794 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -231.6625939532575, + 105.90367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -229.06451774190418, + 104.40367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -226.46644153055087, + 102.90367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -223.86836531919755, + 101.40367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -221.27028910784423, + 99.90367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -218.67221289649092, + 98.40367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -216.0741366851376, + 96.90367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -213.4760604737843, + 95.40367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -210.87798426243097, + 93.90367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -208.27990805107765, + 92.40367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -205.68183183972434, + 90.90367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -203.08375562837102, + 89.40367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -200.4856794170177, + 87.90367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -197.8876032056644, + 86.40367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -195.28952699431107, + 84.90367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -192.69145078295776, + 83.40367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -190.09337457160444, + 81.90367853215588, + -16.927207869894794 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -187.49529836025113, + 80.40367853215588, + -16.927207869894794 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -186.17330045700075, + 79.25256423950195, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-36-3_373953666/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-36-3_373953666/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c152f25c65f8d24452667b9cc66ada8930fe289 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-36-3_373953666/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -309.4378890223088, + 358.93835190218067, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -309.4378890223088, + 355.93835190218067, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -309.4378890223088, + 352.93835190218067, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -309.4378890223088, + 349.93835190218067, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -309.4378890223088, + 346.93835190218067, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -309.4378890223088, + 343.93835190218067, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -309.4378890223088, + 340.93835190218067, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -309.4378890223088, + 337.93835190218067, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -309.4378890223088, + 334.93835190218067, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -309.4378890223088, + 331.93835190218067, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -309.4378890223088, + 328.93835190218067, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -309.4378890223088, + 325.93835190218067, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -309.4378890223088, + 322.93835190218067, + -15.579692667278334 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -309.4378890223088, + 322.93835190218067, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -307.9378890223088, + 320.34027569082735, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -306.4378890223088, + 317.74219947947404, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -304.9378890223088, + 315.1441232681207, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -303.4378890223088, + 312.5460470567674, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -301.9378890223088, + 309.9479708454141, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -300.1048927307129, + 306.1219676971436, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -300.4378890223088, + 307.3498946340608, + -15.579692667278334 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -300.4378890223088, + 307.3498946340608, + -15.579692667278334 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -300.4378890223088, + 307.3498946340608, + -15.579692667278334 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -300.4378890223088, + 307.3498946340608, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -297.4378890223088, + 307.3498946340608, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -294.4378890223088, + 307.3498946340608, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -291.4378890223088, + 307.3498946340608, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -288.4378890223088, + 307.3498946340608, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -285.4378890223088, + 307.3498946340608, + -15.579692667278334 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -285.4378890223088, + 307.3498946340608, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -282.8398128109555, + 305.8498946340608, + -15.579692667278334 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -282.8398128109555, + 305.8498946340608, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -281.3398128109555, + 303.25181842270746, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -279.8398128109555, + 300.65374221135414, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -278.3398128109555, + 298.0556660000008, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -276.8398128109555, + 295.4575897886475, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -275.3398128109555, + 292.8595135772942, + -15.579692667278334 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -275.3398128109555, + 292.8595135772942, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -272.7417365996022, + 291.3595135772942, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -270.14366038824886, + 289.8595135772942, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -267.54558417689555, + 288.3595135772942, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -264.94750796554223, + 286.8595135772942, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -262.3494317541889, + 285.3595135772942, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -259.7513555428356, + 283.8595135772942, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -257.1532793314823, + 282.3595135772942, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -254.55520312012897, + 280.8595135772942, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -251.95712690877565, + 279.3595135772942, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -249.35905069742233, + 277.8595135772942, + -15.579692667278334 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -249.35905069742233, + 277.8595135772942, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -246.35905069742233, + 277.8595135772942, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -243.35905069742233, + 277.8595135772942, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -240.35905069742233, + 277.8595135772942, + -15.579692667278334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -237.35905069742233, + 277.8595135772942, + -15.579692667278334 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -236.15102710723878, + 277.2074661254883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-40-32_1077683174/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-40-32_1077683174/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bfee1925f6c58d3873f917461b4b0cfd6bc6cb20 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-40-32_1077683174/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 118.64140527963693, + 146.47467775062262, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 121.64140527963693, + 146.47467775062262, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 124.64140527963693, + 146.47467775062262, + -18.12290350052583 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 124.64140527963693, + 146.47467775062262, + -18.12290350052583 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 124.64140527963693, + 146.47467775062262, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 126.14140527963693, + 143.8766015392693, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 127.64140527963693, + 141.278525327916, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 129.14140527963693, + 138.68044911656267, + -18.12290350052583 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 129.14140527963693, + 138.68044911656267, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 131.73948149099024, + 137.18044911656267, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 134.33755770234356, + 135.68044911656267, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 136.93563391369688, + 134.18044911656267, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 139.5337101250502, + 132.68044911656267, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 142.1317863364035, + 131.18044911656267, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 144.72986254775682, + 129.68044911656267, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 147.32793875911014, + 128.18044911656267, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 149.92601497046346, + 126.68044911656267, + -18.12290350052583 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 149.92601497046346, + 126.68044911656267, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 151.42601497046346, + 124.08237290520935, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 152.92601497046346, + 121.48429669385604, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 154.42601497046346, + 118.88622048250272, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 155.92601497046346, + 116.2881442711494, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 157.42601497046346, + 113.69006805979609, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 158.92601497046346, + 111.09199184844277, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 160.42601497046346, + 108.49391563708946, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 161.92601497046346, + 105.89583942573614, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 165.80752325057983, + 103.6218903541565, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 163.42601497046346, + 103.29776321438283, + -18.12290350052583 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 163.42601497046346, + 103.29776321438283, + -18.12290350052583 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 163.42601497046346, + 103.29776321438283, + -18.12290350052583 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 163.42601497046346, + 103.29776321438283, + -18.12290350052583 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 163.42601497046346, + 103.29776321438283, + -18.12290350052583 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 163.42601497046346, + 103.29776321438283, + -18.12290350052583 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948961 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 163.42601497046346, + 103.29776321438283, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 163.42601497046346, + 106.29776321438283, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 163.42601497046346, + 109.29776321438283, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 163.42601497046346, + 112.29776321438283, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 163.42601497046346, + 115.29776321438283, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 163.42601497046346, + 118.29776321438283, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 163.42601497046346, + 121.29776321438283, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 163.42601497046346, + 124.29776321438283, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 163.42601497046346, + 127.29776321438283, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 163.42601497046346, + 130.29776321438283, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 163.42601497046346, + 133.29776321438283, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 163.42601497046346, + 136.29776321438283, + -18.12290350052583 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 163.42601497046346, + 136.29776321438283, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 164.92601497046346, + 138.89583942573614, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 166.42601497046346, + 141.49391563708946, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 167.92601497046346, + 144.09199184844277, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 169.42601497046346, + 146.6900680597961, + -18.12290350052583 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 170.92601497046346, + 149.2881442711494, + -18.12290350052583 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 172.00853967666626, + 151.80226211547853, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-46-49_698312496/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-46-49_698312496/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0e350e61300eeb0826667bc48780c7ccec323c4 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-46-49_698312496/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -318.77312113281806, + 229.0299868470908, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -318.77312113281806, + 232.0299868470908, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -318.77312113281806, + 235.0299868470908, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -318.77312113281806, + 238.0299868470908, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -318.77312113281806, + 241.0299868470908, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -318.77312113281806, + 244.0299868470908, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -318.77312113281806, + 247.0299868470908, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -318.77312113281806, + 250.0299868470908, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -318.77312113281806, + 253.0299868470908, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -318.77312113281806, + 256.0299868470908, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -318.77312113281806, + 259.0299868470908, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -318.77312113281806, + 262.0299868470908, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -318.77312113281806, + 265.0299868470908, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -318.77312113281806, + 268.0299868470908, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -318.77312113281806, + 271.0299868470908, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -318.77312113281806, + 274.0299868470908, + -19.48337460698091 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -318.77312113281806, + 274.0299868470908, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -317.27312113281806, + 276.6280630584441, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -315.77312113281806, + 279.22613926979744, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -314.27312113281806, + 281.82421548115076, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -312.77312113281806, + 284.4222916925041, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -311.27312113281806, + 287.0203679038574, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -309.77312113281806, + 289.6184441152107, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -308.27312113281806, + 292.216520326564, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -306.77312113281806, + 294.81459653791734, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -305.27312113281806, + 297.41267274927066, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -303.77312113281806, + 300.01074896062397, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -302.27312113281806, + 302.6088251719773, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -300.1048927307129, + 306.1219676971436, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -300.77312113281806, + 305.2069013833306, + -19.48337460698091 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -300.77312113281806, + 305.2069013833306, + -19.48337460698091 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -300.77312113281806, + 305.2069013833306, + -19.48337460698091 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -300.77312113281806, + 305.2069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -297.77312113281806, + 305.2069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -294.77312113281806, + 305.2069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -291.77312113281806, + 305.2069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -288.77312113281806, + 305.2069013833306, + -19.48337460698091 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -288.77312113281806, + 305.2069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -286.17504492146475, + 303.7069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -283.57696871011143, + 302.2069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -280.9788924987581, + 300.7069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -278.3808162874048, + 299.2069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -275.7827400760515, + 297.7069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -273.18466386469817, + 296.2069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -270.58658765334485, + 294.7069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -267.98851144199153, + 293.2069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -265.3904352306382, + 291.7069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -262.7923590192849, + 290.2069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -260.1942828079316, + 288.7069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -257.59620659657827, + 287.2069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -254.99813038522495, + 285.7069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -252.40005417387164, + 284.2069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -249.80197796251832, + 282.7069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -247.203901751165, + 281.2069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -244.6058255398117, + 279.7069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -242.00774932845837, + 278.2069013833306, + -19.48337460698091 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -239.40967311710506, + 276.7069013833306, + -19.48337460698091 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -236.15102710723878, + 277.2074661254883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-49-17_522971726/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-49-17_522971726/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..407b33b12523b975f39fedaf88f3f5f734fe8050 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-49-17_522971726/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -280.8062458779773, + 223.61257975136576, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -278.208169666624, + 225.11257975136576, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -275.61009345527066, + 226.61257975136576, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -273.01201724391734, + 228.11257975136576, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -270.413941032564, + 229.61257975136576, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -267.8158648212107, + 231.11257975136576, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -265.2177886098574, + 232.61257975136576, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -262.6197123985041, + 234.11257975136576, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -260.02163618715076, + 235.61257975136576, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -257.42355997579745, + 237.11257975136576, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -254.82548376444413, + 238.61257975136576, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -252.2274075530908, + 240.11257975136576, + -19.388822856747595 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -252.2274075530908, + 240.11257975136576, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -250.7274075530908, + 242.71065596271907, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -249.2274075530908, + 245.3087321740724, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -247.7274075530908, + 247.9068083854257, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -246.2274075530908, + 250.50488459677902, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -244.7274075530908, + 253.10296080813234, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -243.2274075530908, + 255.70103701948565, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -241.7274075530908, + 258.299113230839, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966025 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -240.2274075530908, + 260.8971894421923, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -238.7274075530908, + 263.49526565354563, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -237.2274075530908, + 266.09334186489895, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -235.7274075530908, + 268.69141807625226, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -234.2274075530908, + 271.2894942876056, + -19.388822856747595 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -234.2274075530908, + 271.2894942876056, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -231.6293313417375, + 272.7894942876056, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.42313041687012, + 276.43410530090335, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -229.03125513038418, + 274.2894942876056, + -19.388822856747595 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -229.03125513038418, + 274.2894942876056, + -19.388822856747595 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -229.03125513038418, + 274.2894942876056, + -19.388822856747595 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -229.03125513038418, + 274.2894942876056, + -19.388822856747595 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -229.03125513038418, + 274.2894942876056, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -227.53125513038418, + 271.69141807625226, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -226.03125513038418, + 269.09334186489895, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -224.53125513038418, + 266.49526565354563, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -223.03125513038418, + 263.8971894421923, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -221.53125513038418, + 261.299113230839, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -220.03125513038418, + 258.7010370194857, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -218.53125513038418, + 256.10296080813237, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -217.03125513038418, + 253.50488459677905, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -215.53125513038418, + 250.90680838542573, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -214.03125513038418, + 248.30873217407242, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -212.53125513038418, + 245.7106559627191, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -211.03125513038418, + 243.11257975136579, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -209.53125513038418, + 240.51450354001247, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -208.03125513038418, + 237.91642732865915, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -206.53125513038418, + 235.31835111730584, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -205.03125513038418, + 232.72027490595252, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -203.53125513038418, + 230.1221986945992, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -202.03125513038418, + 227.5241224832459, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -200.53125513038418, + 224.92604627189257, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -199.03125513038418, + 222.32797006053926, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -197.53125513038418, + 219.72989384918594, + -19.388822856747595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -196.03125513038418, + 217.13181763783263, + -19.388822856747595 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -192.74566249847413, + 216.19230060577394, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-5-51_1020406649/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-5-51_1020406649/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e2d6002c6dba15ab985532bcfb9640f729d9a21f --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_8-5-51_1020406649/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -322.23867527909954, + 349.2109667849301, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -325.23867527909954, + 349.2109667849301, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -328.23867527909954, + 349.2109667849301, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -331.23867527909954, + 349.2109667849301, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -334.23867527909954, + 349.2109667849301, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -337.23867527909954, + 349.2109667849301, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -340.23867527909954, + 349.2109667849301, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -343.23867527909954, + 349.2109667849301, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -346.23867527909954, + 349.2109667849301, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -349.23867527909954, + 349.2109667849301, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -352.23867527909954, + 349.2109667849301, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -355.23867527909954, + 349.2109667849301, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -358.23867527909954, + 349.2109667849301, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -361.23867527909954, + 349.2109667849301, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -364.23867527909954, + 349.2109667849301, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -367.23867527909954, + 349.2109667849301, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -370.23867527909954, + 349.2109667849301, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -373.23867527909954, + 349.2109667849301, + -21.163483616580038 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -373.23867527909954, + 349.2109667849301, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -375.83675149045285, + 350.7109667849301, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -380.34502296447755, + 354.05039978027344, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -378.43482770180617, + 352.2109667849301, + -21.163483616580038 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -378.43482770180617, + 352.2109667849301, + -21.163483616580038 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -378.43482770180617, + 352.2109667849301, + -21.163483616580038 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -378.43482770180617, + 352.2109667849301, + -21.163483616580038 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -378.43482770180617, + 352.2109667849301, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -376.93482770180617, + 354.80904299628344, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -375.43482770180617, + 357.40711920763675, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -373.93482770180617, + 360.00519541899007, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -372.43482770180617, + 362.6032716303434, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -370.93482770180617, + 365.2013478416967, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -369.43482770180617, + 367.79942405305, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -367.93482770180617, + 370.39750026440333, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -366.43482770180617, + 372.99557647575665, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -364.93482770180617, + 375.59365268710997, + -21.163483616580038 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -364.93482770180617, + 375.59365268710997, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -364.93482770180617, + 378.59365268710997, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -364.93482770180617, + 381.59365268710997, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -364.93482770180617, + 384.59365268710997, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -364.93482770180617, + 387.59365268710997, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -364.93482770180617, + 390.59365268710997, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -364.93482770180617, + 393.59365268710997, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -364.93482770180617, + 396.59365268710997, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -364.93482770180617, + 399.59365268710997, + -21.163483616580038 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -364.93482770180617, + 402.59365268710997, + -21.163483616580038 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -363.84117927551273, + 405.62004070281984, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-17-31_16922351/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-17-31_16922351/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e9d726895caafd724a79929ba3ca68574cf7d7de --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-17-31_16922351/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -96.92962807061579, + 106.54487033454386, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -98.42962807061579, + 109.14294654589717, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -99.92962807061579, + 111.74102275725049, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -101.42962807061579, + 114.3390989686038, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -102.92962807061579, + 116.93717517995712, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -104.42962807061579, + 119.53525139131044, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -105.92962807061579, + 122.13332760266375, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -107.42962807061579, + 124.73140381401707, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -108.92962807061579, + 127.32948002537039, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -110.42962807061579, + 129.92755623672372, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393193 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -111.92962807061579, + 132.52563244807703, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -113.42962807061579, + 135.12370865943035, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -114.92962807061579, + 137.72178487078367, + -16.06392232389703 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -114.92962807061579, + 137.72178487078367, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -117.52770428196911, + 139.22178487078367, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -120.12578049332242, + 140.72178487078367, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -122.72385670467574, + 142.22178487078367, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -125.32193291602906, + 143.72178487078367, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -130.05646734237672, + 147.10406847000124, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -127.92000912738237, + 145.22178487078367, + -16.06392232389703 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -127.92000912738237, + 145.22178487078367, + -16.06392232389703 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -127.92000912738237, + 145.22178487078367, + -16.06392232389703 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -127.92000912738237, + 145.22178487078367, + -16.06392232389703 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -127.92000912738237, + 145.22178487078367, + -16.06392232389703 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982991 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -127.92000912738237, + 145.22178487078367, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -125.32193291602906, + 146.72178487078367, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -122.72385670467574, + 148.22178487078367, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -120.12578049332242, + 149.72178487078367, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -117.52770428196911, + 151.22178487078367, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -114.92962807061579, + 152.72178487078367, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -112.33155185926248, + 154.22178487078367, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -109.73347564790916, + 155.72178487078367, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -107.13539943655584, + 157.22178487078367, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -104.53732322520253, + 158.72178487078367, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -101.93924701384921, + 160.22178487078367, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -99.3411708024959, + 161.72178487078367, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -96.74309459114258, + 163.22178487078367, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -94.14501837978926, + 164.72178487078367, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -91.54694216843595, + 166.22178487078367, + -16.06392232389703 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -91.54694216843595, + 166.22178487078367, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -90.04694216843595, + 168.81986108213698, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -88.54694216843595, + 171.4179372934903, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -87.04694216843595, + 174.0160135048436, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -85.54694216843595, + 176.61408971619693, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -84.04694216843595, + 179.21216592755025, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -82.54694216843595, + 181.81024213890356, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -81.04694216843595, + 184.40831835025688, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -79.54694216843595, + 187.0063945616102, + -16.06392232389703 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -78.04694216843595, + 189.6044707729635, + -16.06392232389703 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -75.5195812702179, + 191.94742860794068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-30-31_1684677418/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-30-31_1684677418/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3dbb2496cc3091c3c12997df826efbadb0b86f3d --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-30-31_1684677418/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 2.961444587316681, + 395.3963631807306, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2.961444587316681, + 398.3963631807306, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2.961444587316681, + 401.3963631807306, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 2.961444587316681, + 404.3963631807306, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 2.961444587316681, + 407.3963631807306, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 2.961444587316681, + 410.3963631807306, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 2.961444587316681, + 413.3963631807306, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 2.961444587316681, + 416.3963631807306, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 2.961444587316681, + 419.3963631807306, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 2.961444587316681, + 422.3963631807306, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 2.961444587316681, + 425.3963631807306, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 2.961444587316681, + 428.3963631807306, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 2.961444587316681, + 431.3963631807306, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2.961444587316681, + 434.3963631807306, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2.961444587316681, + 437.3963631807306, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2.961444587316681, + 440.3963631807306, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 2.961444587316681, + 443.3963631807306, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 2.961444587316681, + 446.3963631807306, + -20.06076884695679 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 2.961444587316681, + 446.3963631807306, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 4.461444587316681, + 448.9944393920839, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 5.961444587316681, + 451.5925156034372, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 7.461444587316681, + 454.19059181479054, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 8.96144458731668, + 456.78866802614385, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 10.46144458731668, + 459.38674423749717, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 11.96144458731668, + 461.9848204488505, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 13.46144458731668, + 464.5828966602038, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 14.96144458731668, + 467.1809728715571, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 17.448638093471526, + 473.35583000183107, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 16.46144458731668, + 469.77904908291043, + -20.06076884695679 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 16.46144458731668, + 469.77904908291043, + -20.06076884695679 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 16.46144458731668, + 469.77904908291043, + -20.06076884695679 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 16.46144458731668, + 469.77904908291043, + -20.06076884695679 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 16.46144458731668, + 469.77904908291043, + -20.06076884695679 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965974 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 16.46144458731668, + 469.77904908291043, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 17.96144458731668, + 467.1809728715571, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 19.46144458731668, + 464.5828966602038, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 20.96144458731668, + 461.9848204488505, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 22.46144458731668, + 459.38674423749717, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 23.96144458731668, + 456.78866802614385, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 25.46144458731668, + 454.19059181479054, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 26.96144458731668, + 451.5925156034372, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 28.46144458731668, + 448.9944393920839, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 29.96144458731668, + 446.3963631807306, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 31.46144458731668, + 443.7982869693773, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 32.961444587316684, + 441.20021075802396, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965967 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 34.461444587316684, + 438.60213454667064, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 35.961444587316684, + 436.0040583353173, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 37.461444587316684, + 433.405982123964, + -20.06076884695679 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 37.461444587316684, + 433.405982123964, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 37.461444587316684, + 430.405982123964, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 37.461444587316684, + 427.405982123964, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 37.461444587316684, + 424.405982123964, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 37.461444587316684, + 421.405982123964, + -20.06076884695679 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 37.461444587316684, + 418.405982123964, + -20.06076884695679 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 37.990253353118895, + 414.50321331024173, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-33-2_304505404/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-33-2_304505404/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2d460f3c3d6f716d3053f84251118d9f0e402ade --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-33-2_304505404/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 121.1982331634771, + -22.179583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 124.1982331634771, + -22.179583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 127.1982331634771, + -22.179583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 130.19823316347708, + -22.179583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 133.19823316347708, + -22.179583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 136.19823316347708, + -22.179583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 139.19823316347708, + -22.179583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 142.19823316347708, + -22.179583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 145.19823316347708, + -22.179583410606966, + -19.229327205610733 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 145.19823316347708, + -22.179583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 147.7963093748304, + -20.679583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 150.39438558618372, + -19.179583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 152.99246179753703, + -17.679583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 155.59053800889035, + -16.179583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 158.18861422024366, + -14.679583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 160.78669043159698, + -13.179583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 163.3847666429503, + -11.679583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 165.9828428543036, + -10.179583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 168.58091906565693, + -8.679583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 171.17899527701024, + -7.179583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 173.77707148836356, + -5.679583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 176.37514769971688, + -4.179583410606966, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 178.9732239110702, + -2.6795834106069663, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 181.5713001224235, + -1.1795834106069665, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 187.6693754196167, + 2.2071708753705024, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 184.16937633377682, + 0.3204165893930333, + -19.229327205610733 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 184.16937633377682, + 0.3204165893930333, + -19.229327205610733 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 184.16937633377682, + 0.3204165893930333, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 185.66937633377682, + 2.9184928007463493, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 187.16937633377682, + 5.516569012099666, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 188.66937633377682, + 8.114645223452982, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 190.16937633377682, + 10.712721434806298, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 191.66937633377682, + 13.310797646159614, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 193.16937633377682, + 15.90887385751293, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 194.66937633377682, + 18.506950068866246, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 196.16937633377682, + 21.105026280219562, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 197.66937633377682, + 23.703102491572878, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 199.16937633377682, + 26.301178702926194, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 200.66937633377682, + 28.89925491427951, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 202.16937633377682, + 31.497331125632826, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 203.66937633377682, + 34.09540733698614, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 205.16937633377682, + 36.69348354833946, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 206.66937633377682, + 39.291559759692774, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 208.16937633377682, + 41.88963597104609, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 209.66937633377682, + 44.487712182399406, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 211.16937633377682, + 47.08578839375272, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 212.66937633377682, + 49.68386460510604, + -19.229327205610733 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 212.66937633377682, + 49.68386460510604, + -19.229327205610733 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 215.26745254513014, + 51.18386460510604, + -19.229327205610733 + ], + "type": "stop", + "value": 0, + "yaw": 0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 218.32671661376955, + 52.17227687835694, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-41-2_1260995960/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-41-2_1260995960/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b166c0a2d654d4b51c06d191c458aedd87425c1f --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-41-2_1260995960/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -91.1318262973229, + 286.7232711924651, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -91.1318262973229, + 283.7232711924651, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -91.1318262973229, + 280.7232711924651, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -91.1318262973229, + 277.7232711924651, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -91.1318262973229, + 274.7232711924651, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -91.1318262973229, + 271.7232711924651, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -91.1318262973229, + 268.7232711924651, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -91.1318262973229, + 265.7232711924651, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -91.1318262973229, + 262.7232711924651, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -91.1318262973229, + 259.7232711924651, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -91.1318262973229, + 256.7232711924651, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -91.1318262973229, + 253.72327119246512, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -91.1318262973229, + 250.72327119246512, + -21.23245625584407 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -91.1318262973229, + 250.72327119246512, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -89.6318262973229, + 248.1251949811118, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -88.1318262973229, + 245.5271187697585, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -86.6318262973229, + 242.92904255840517, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -85.1318262973229, + 240.33096634705186, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -83.6318262973229, + 237.73289013569854, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -82.1318262973229, + 235.13481392434522, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -80.6318262973229, + 232.5367377129919, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -79.1318262973229, + 229.9386615016386, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -78.11547446250916, + 225.18597507476807, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -77.6318262973229, + 227.34058529028528, + -21.23245625584407 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -77.6318262973229, + 227.34058529028528, + -21.23245625584407 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -77.6318262973229, + 227.34058529028528, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -79.1318262973229, + 224.74250907893196, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -80.6318262973229, + 222.14443286757864, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -82.1318262973229, + 219.54635665622533, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -83.6318262973229, + 216.948280444872, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -85.1318262973229, + 214.3502042335187, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -86.6318262973229, + 211.75212802216538, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -88.1318262973229, + 209.15405181081206, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -89.6318262973229, + 206.55597559945875, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -91.1318262973229, + 203.95789938810543, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -92.6318262973229, + 201.35982317675212, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -94.1318262973229, + 198.7617469653988, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -95.6318262973229, + 196.16367075404548, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -97.1318262973229, + 193.56559454269217, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -98.6318262973229, + 190.96751833133885, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -100.1318262973229, + 188.36944211998554, + -21.23245625584407 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -100.1318262973229, + 188.36944211998554, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -100.1318262973229, + 185.36944211998554, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -100.1318262973229, + 182.36944211998554, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -100.1318262973229, + 179.36944211998554, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -100.1318262973229, + 176.36944211998554, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -100.1318262973229, + 173.36944211998554, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -100.1318262973229, + 170.36944211998554, + -21.23245625584407 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -100.1318262973229, + 167.36944211998554, + -21.23245625584407 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -100.36164784431458, + 165.10346708297732, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-45-29_2117303605/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-45-29_2117303605/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b257cd7362e3e30b73516652c91b4e58015d364 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-45-29_2117303605/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 110.05278161908355, + 57.956864688305885, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 107.45470540773023, + 59.456864688305885, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 104.85662919637691, + 60.956864688305885, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 102.2585529850236, + 62.456864688305885, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 99.66047677367028, + 63.956864688305885, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 97.06240056231697, + 65.45686468830588, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 94.46432435096365, + 66.95686468830588, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 91.86624813961033, + 68.45686468830588, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 89.26817192825702, + 69.95686468830588, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 86.6700957169037, + 71.45686468830588, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 84.07201950555039, + 72.95686468830588, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 81.47394329419707, + 74.45686468830588, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 78.87586708284375, + 75.95686468830588, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 76.27779087149044, + 77.45686468830588, + -15.589256402943336 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 76.27779087149044, + 77.45686468830588, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 74.77779087149044, + 80.0549408996592, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 73.27779087149044, + 82.65301711101252, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 71.77779087149044, + 85.25109332236583, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 70.27779087149044, + 87.84916953371915, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 68.77779087149044, + 90.44724574507246, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 67.27779087149044, + 93.04532195642578, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 65.77779087149044, + 95.6433981677791, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 61.79868612289429, + 98.42731351852417, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 64.27779087149044, + 98.24147437913241, + -15.589256402943336 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 64.27779087149044, + 98.24147437913241, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 64.27779087149044, + 101.24147437913241, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 64.27779087149044, + 104.24147437913241, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 64.27779087149044, + 107.24147437913241, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 64.27779087149044, + 110.24147437913241, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 64.27779087149044, + 113.24147437913241, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 64.27779087149044, + 116.24147437913241, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 64.27779087149044, + 119.24147437913241, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 64.27779087149044, + 122.24147437913241, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 64.27779087149044, + 125.24147437913241, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 64.27779087149044, + 128.2414743791324, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 64.27779087149044, + 131.2414743791324, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 64.27779087149044, + 134.2414743791324, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 64.27779087149044, + 137.2414743791324, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 64.27779087149044, + 140.2414743791324, + -15.589256402943336 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 64.27779087149044, + 140.2414743791324, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 65.77779087149044, + 142.83955059048571, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 67.27779087149044, + 145.43762680183903, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 68.77779087149044, + 148.03570301319235, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 70.27779087149044, + 150.63377922454566, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 71.77779087149044, + 153.23185543589898, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 73.27779087149044, + 155.8299316472523, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 74.77779087149044, + 158.4280078586056, + -15.589256402943336 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 76.27779087149044, + 161.02608406995893, + -15.589256402943336 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 74.72643995285034, + 163.1783983230591, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-48-6_129834447/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-48-6_129834447/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b0d90d6b4bd821e05ab1f007ffd51f1822925880 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-48-6_129834447/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 125.82541691987149, + 11.958609358563272, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 124.32541691987149, + 9.360533147209956, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 122.82541691987149, + 6.76245693585664, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 121.32541691987149, + 4.164380724503324, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 119.82541691987149, + 1.5663045131500084, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 118.32541691987149, + -1.0317716982033076, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 116.82541691987149, + -3.6298479095566236, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 115.32541691987149, + -6.22792412090994, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 113.82541691987149, + -8.826000332263256, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 112.32541691987149, + -11.424076543616572, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 110.82541691987149, + -14.022152754969888, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 109.32541691987149, + -16.620228966323204, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 107.82541691987149, + -19.21830517767652, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 106.32541691987149, + -21.816381389029836, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 104.82541691987149, + -24.41445760038315, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 103.32541691987149, + -27.012533811736468, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 101.82541691987149, + -29.610610023089784, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 100.32541691987149, + -32.2086862344431, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 98.82541691987149, + -34.806762445796416, + -15.19546664083431 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 98.82541691987149, + -34.806762445796416, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 96.22734070851817, + -36.306762445796416, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 90.69617862701416, + -39.65713562965393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 93.62926449716485, + -37.806762445796416, + -15.19546664083431 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 93.62926449716485, + -37.806762445796416, + -15.19546664083431 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 93.62926449716485, + -37.806762445796416, + -15.19546664083431 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 93.62926449716485, + -37.806762445796416, + -15.19546664083431 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 93.62926449716485, + -37.806762445796416, + -15.19546664083431 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982991 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 93.62926449716485, + -37.806762445796416, + -15.19546664083431 + ], + "type": "turn left", + "value": 30, + "yaw": -4.440892098500626e-16 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 93.62926449716485, + -37.806762445796416, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 96.62926449716485, + -37.806762445796416, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 99.62926449716485, + -37.806762445796416, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 102.62926449716485, + -37.806762445796416, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 105.62926449716485, + -37.806762445796416, + -15.19546664083431 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 105.62926449716485, + -37.806762445796416, + -15.19546664083431 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 105.62926449716485, + -37.806762445796416, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 107.12926449716485, + -40.40483865714973, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 108.62926449716485, + -43.00291486850305, + -15.19546664083431 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 108.62926449716485, + -43.00291486850305, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 111.22734070851817, + -44.50291486850305, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 113.82541691987149, + -46.00291486850305, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 116.4234931312248, + -47.50291486850305, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 119.02156934257812, + -49.00291486850305, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 121.61964555393143, + -50.50291486850305, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 124.21772176528475, + -52.00291486850305, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 126.81579797663807, + -53.50291486850305, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 129.41387418799138, + -55.00291486850305, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 132.0119503993447, + -56.50291486850305, + -15.19546664083431 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 134.61002661069801, + -58.00291486850305, + -15.19546664083431 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 135.41849660873413, + -61.472222375869755, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-52-48_1286966948/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-52-48_1286966948/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..38a1891d25adf799c85d6f35d285c81a5b1ad647 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-52-48_1286966948/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -175.37843856333302, + 322.2580821342941, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -172.37843856333302, + 322.2580821342941, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -169.37843856333302, + 322.2580821342941, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -166.37843856333302, + 322.2580821342941, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -163.37843856333302, + 322.2580821342941, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -160.37843856333302, + 322.2580821342941, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -157.37843856333302, + 322.2580821342941, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -154.37843856333302, + 322.2580821342941, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -151.37843856333302, + 322.2580821342941, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -148.37843856333302, + 322.2580821342941, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -145.37843856333302, + 322.2580821342941, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -142.37843856333302, + 322.2580821342941, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -139.37843856333302, + 322.2580821342941, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -136.37843856333302, + 322.2580821342941, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -133.37843856333302, + 322.2580821342941, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -130.37843856333302, + 322.2580821342941, + -18.0750580185043 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -130.37843856333302, + 322.2580821342941, + -18.0750580185043 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -130.37843856333302, + 322.2580821342941, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -128.87843856333302, + 319.6600059229408, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -127.37843856333302, + 317.0619297115875, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -125.87843856333302, + 314.46385350023417, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -124.37843856333302, + 311.86577728888085, + -18.0750580185043 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -124.37843856333302, + 311.86577728888085, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -121.7803623519797, + 310.36577728888085, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -119.18228614062639, + 308.86577728888085, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -115.87129821777344, + 305.9235919952393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -116.58420992927307, + 307.36577728888085, + -18.0750580185043 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -116.58420992927307, + 307.36577728888085, + -18.0750580185043 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -116.58420992927307, + 307.36577728888085, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -115.08420992927307, + 304.76770107752753, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -113.58420992927307, + 302.1696248661742, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -112.08420992927307, + 299.5715486548209, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -110.58420992927307, + 296.9734724434676, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -109.08420992927307, + 294.37539623211427, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -107.58420992927307, + 291.77732002076095, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -106.08420992927307, + 289.17924380940764, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -104.58420992927307, + 286.5811675980543, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -103.08420992927307, + 283.983091386701, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -101.58420992927307, + 281.3850151753477, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -100.08420992927307, + 278.7869389639944, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -98.58420992927307, + 276.18886275264106, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -97.08420992927307, + 273.59078654128774, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -95.58420992927307, + 270.9927103299344, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -94.08420992927307, + 268.3946341185811, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -92.58420992927307, + 265.7965579072278, + -18.0750580185043 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -92.58420992927307, + 265.7965579072278, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -89.98613371791976, + 264.2965579072278, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -87.38805750656644, + 262.7965579072278, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -84.78998129521312, + 261.2965579072278, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -82.19190508385981, + 259.7965579072278, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -79.59382887250649, + 258.2965579072278, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -76.99575266115318, + 256.7965579072278, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -74.39767644979986, + 255.2965579072278, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -71.79960023844654, + 253.7965579072278, + -18.0750580185043 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -69.20152402709323, + 252.2965579072278, + -18.0750580185043 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -66.18976526260376, + 252.47785472869873, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-55-1_338346092/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-55-1_338346092/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..764da4af93c1ac908010afed65454534bc2d80b9 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-55-1_338346092/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -108.72241159448771, + 355.8573044337869, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -108.72241159448771, + 352.8573044337869, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -108.72241159448771, + 349.8573044337869, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -108.72241159448771, + 346.8573044337869, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -108.72241159448771, + 343.8573044337869, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -108.72241159448771, + 340.8573044337869, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -108.72241159448771, + 337.8573044337869, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -108.72241159448771, + 334.8573044337869, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -108.72241159448771, + 331.8573044337869, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -108.72241159448771, + 328.8573044337869, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -108.72241159448771, + 325.8573044337869, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -108.72241159448771, + 322.8573044337869, + -19.787387638836456 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -108.72241159448771, + 322.8573044337869, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -110.22241159448771, + 320.2592282224336, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -111.72241159448771, + 317.6611520110803, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -113.22241159448771, + 315.06307579972696, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -114.72241159448771, + 312.46499958837364, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -115.87129821777344, + 305.9235919952393, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -116.22241159448771, + 309.8669233770203, + -19.787387638836456 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -116.22241159448771, + 309.8669233770203, + -19.787387638836456 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -116.22241159448771, + 309.8669233770203, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -114.72241159448771, + 307.268847165667, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -113.22241159448771, + 304.6707709543137, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -111.72241159448771, + 302.0726947429604, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -110.22241159448771, + 299.47461853160706, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -108.72241159448771, + 296.87654232025375, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -107.22241159448771, + 294.27846610890043, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -105.72241159448771, + 291.6803898975471, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -104.22241159448771, + 289.0823136861938, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -102.72241159448771, + 286.4842374748405, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -101.22241159448771, + 283.88616126348717, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -99.72241159448771, + 281.28808505213385, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -98.22241159448771, + 278.69000884078054, + -19.787387638836456 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -98.22241159448771, + 278.69000884078054, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -95.6243353831344, + 277.19000884078054, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -93.02625917178108, + 275.69000884078054, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -90.42818296042776, + 274.19000884078054, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -87.83010674907445, + 272.69000884078054, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -85.23203053772113, + 271.19000884078054, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -82.63395432636781, + 269.69000884078054, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -80.0358781150145, + 268.19000884078054, + -19.787387638836456 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -80.0358781150145, + 268.19000884078054, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -78.5358781150145, + 265.5919326294272, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -77.0358781150145, + 262.9938564180739, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -75.5358781150145, + 260.3957802067206, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -74.0358781150145, + 257.79770399536727, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -72.5358781150145, + 255.19962778401396, + -19.787387638836456 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -71.0358781150145, + 252.60155157266064, + -19.787387638836456 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -68.07784786224366, + 251.98643093109132, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-57-49_845954166/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-57-49_845954166/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..253dd582528492fec41bbd51d45acb1b6003f6ca --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-57-49_845954166/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -184.34601508953227, + 105.60675181185317, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -181.74793887817896, + 104.10675181185317, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -179.14986266682564, + 102.60675181185317, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -176.55178645547232, + 101.10675181185317, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -173.953710244119, + 99.60675181185317, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -171.3556340327657, + 98.10675181185317, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -168.75755782141238, + 96.60675181185317, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -166.15948161005906, + 95.10675181185317, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -163.56140539870574, + 93.60675181185317, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -160.96332918735243, + 92.10675181185317, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -158.3652529759991, + 90.60675181185317, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -155.7671767646458, + 89.10675181185317, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -153.16910055329248, + 87.60675181185317, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -150.57102434193916, + 86.10675181185317, + -18.28036658450997 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -150.57102434193916, + 86.10675181185317, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -149.07102434193916, + 83.50867560049986, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -147.57102434193916, + 80.91059938914654, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -146.07102434193916, + 78.31252317779322, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -144.57102434193916, + 75.71444696643991, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -143.07102434193916, + 73.11637075508659, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -141.57102434193916, + 70.51829454373328, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -140.07102434193916, + 67.92021833237996, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -138.57102434193916, + 65.32214212102664, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -137.07102434193916, + 62.72406590967333, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -135.57102434193916, + 60.12598969832001, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -131.383580493927, + 55.4392418384552, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -134.07102434193916, + 57.527913486966696, + -18.28036658450997 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -134.07102434193916, + 57.527913486966696, + -18.28036658450997 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -134.07102434193916, + 57.527913486966696, + -18.28036658450997 + ], + "type": "turn left", + "value": 30, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -134.07102434193916, + 57.527913486966696, + -18.28036658450997 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -134.07102434193916, + 57.527913486966696, + -18.28036658450997 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -134.07102434193916, + 57.527913486966696, + -18.28036658450997 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948961 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -134.07102434193916, + 57.527913486966696, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -134.07102434193916, + 60.527913486966696, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -134.07102434193916, + 63.527913486966696, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -134.07102434193916, + 66.5279134869667, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -134.07102434193916, + 69.5279134869667, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -134.07102434193916, + 72.5279134869667, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -134.07102434193916, + 75.5279134869667, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -134.07102434193916, + 78.5279134869667, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -134.07102434193916, + 81.5279134869667, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -134.07102434193916, + 84.5279134869667, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -134.07102434193916, + 87.5279134869667, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -134.07102434193916, + 90.5279134869667, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -134.07102434193916, + 93.5279134869667, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -134.07102434193916, + 96.5279134869667, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -134.07102434193916, + 99.5279134869667, + -18.28036658450997 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -134.07102434193916, + 99.5279134869667, + -18.28036658450997 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -134.07102434193916, + 99.5279134869667, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -131.47294813058585, + 101.0279134869667, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -128.87487191923253, + 102.5279134869667, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -126.27679570787922, + 104.0279134869667, + -18.28036658450997 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -126.27679570787922, + 104.0279134869667, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -124.77679570787922, + 106.62598969832001, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -123.27679570787922, + 109.22406590967333, + -18.28036658450997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -121.77679570787922, + 111.82214212102664, + -18.28036658450997 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -121.91530103683472, + 115.51278867721558, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-58-16_1487105994/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-58-16_1487105994/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6cd41723c5f134d236dabe5ac06498e29597a58d --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-58-16_1487105994/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -84.22393061541229, + 233.92060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -81.22393061541229, + 233.92060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -78.22393061541229, + 233.92060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -75.22393061541229, + 233.92060208240162, + -18.002664877666035 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -75.22393061541229, + 233.92060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -72.62585440405897, + 232.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -70.02777819270565, + 230.92060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -67.42970198135234, + 229.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -64.83162576999902, + 227.92060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -62.233549558645706, + 226.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -59.63547334729239, + 224.92060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -57.037397135939074, + 223.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -54.43932092458576, + 221.92060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -51.84124471323244, + 220.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -49.243168501879126, + 218.92060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -46.64509229052581, + 217.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -44.047016079172494, + 215.92060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -41.44893986781918, + 214.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -38.85086365646586, + 212.92060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -36.252787445112546, + 211.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -33.65471123375923, + 209.92060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -31.056635022405914, + 208.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -28.458558811052598, + 206.92060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -24.924080467224123, + 204.11226043701174, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -25.86048259969928, + 205.42060208240162, + -18.002664877666035 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -25.86048259969928, + 205.42060208240162, + -18.002664877666035 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -25.86048259969928, + 205.42060208240162, + -18.002664877666035 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -25.86048259969928, + 205.42060208240162, + -18.002664877666035 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -25.86048259969928, + 205.42060208240162, + -18.002664877666035 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -25.86048259969928, + 205.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -28.458558811052598, + 203.92060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -31.056635022405914, + 202.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -33.65471123375923, + 200.92060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -36.252787445112546, + 199.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -38.85086365646586, + 197.92060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -41.44893986781918, + 196.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -44.047016079172494, + 194.92060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -46.64509229052581, + 193.42060208240162, + -18.002664877666035 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -46.64509229052581, + 193.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -49.64509229052581, + 193.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -52.64509229052581, + 193.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -55.64509229052581, + 193.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -58.64509229052581, + 193.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -61.64509229052581, + 193.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -64.64509229052581, + 193.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -67.64509229052581, + 193.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -70.64509229052581, + 193.42060208240162, + -18.002664877666035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -73.64509229052581, + 193.42060208240162, + -18.002664877666035 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -75.5195812702179, + 191.94742860794068, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-8-15_1107096180/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-8-15_1107096180/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef27d316c2637455a31945bc54fb50f7af92d603 --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-8-15_1107096180/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -290.2169604754138, + 361.8143926790293, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -290.2169604754138, + 358.8143926790293, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -290.2169604754138, + 355.8143926790293, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -290.2169604754138, + 352.8143926790293, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -290.2169604754138, + 349.8143926790293, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -290.2169604754138, + 346.8143926790293, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -290.2169604754138, + 343.8143926790293, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -290.2169604754138, + 340.8143926790293, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -290.2169604754138, + 337.8143926790293, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -290.2169604754138, + 334.8143926790293, + -15.505240014993745 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -290.2169604754138, + 334.8143926790293, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -291.7169604754138, + 332.216316467676, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -293.2169604754138, + 329.6182402563227, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -294.7169604754138, + 327.02016404496936, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -296.2169604754138, + 324.42208783361605, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -297.7169604754138, + 321.82401162226273, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -299.2169604754138, + 319.2259354109094, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -300.7169604754138, + 316.6278591995561, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -302.2169604754138, + 314.0297829882028, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -303.76718215942384, + 307.45265769958496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -303.7169604754138, + 311.43170677684947, + -15.505240014993745 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -303.7169604754138, + 311.43170677684947, + -15.505240014993745 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -303.7169604754138, + 311.43170677684947, + -15.505240014993745 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -303.7169604754138, + 311.43170677684947, + -15.505240014993745 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -303.7169604754138, + 311.43170677684947, + -15.505240014993745 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -303.7169604754138, + 311.43170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -300.7169604754138, + 311.43170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -297.7169604754138, + 311.43170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -294.7169604754138, + 311.43170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -291.7169604754138, + 311.43170677684947, + -15.505240014993745 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -291.7169604754138, + 311.43170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -289.1188842640605, + 309.93170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -286.5208080527072, + 308.43170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -283.9227318413539, + 306.93170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -281.32465563000056, + 305.43170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -278.72657941864725, + 303.93170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -276.12850320729393, + 302.43170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -273.5304269959406, + 300.93170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -270.9323507845873, + 299.43170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -268.334274573234, + 297.93170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -265.73619836188067, + 296.43170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -263.13812215052735, + 294.93170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -260.54004593917404, + 293.43170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -257.9419697278207, + 291.93170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -255.3438935164674, + 290.43170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -252.7458173051141, + 288.93170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -250.14774109376077, + 287.43170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -247.54966488240746, + 285.93170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -244.95158867105414, + 284.43170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -242.35351245970082, + 282.93170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -239.7554362483475, + 281.43170677684947, + -15.505240014993745 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -237.1573600369942, + 279.93170677684947, + -15.505240014993745 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -236.15102710723878, + 277.2074661254883, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-8-41_692458743/pose.jsonl b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-8-41_692458743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2516f91edb5442a0b8efdd93fcb5fa6732dfc6ff --- /dev/null +++ b/Image/env_gs_nwpu01/astar_data/long/2025-1-14_9-8-41_692458743/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -336.7830227527341, + 72.60209590330015, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -336.7830227527341, + 75.60209590330015, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -336.7830227527341, + 78.60209590330015, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -336.7830227527341, + 81.60209590330015, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -336.7830227527341, + 84.60209590330015, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -336.7830227527341, + 87.60209590330015, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -336.7830227527341, + 90.60209590330015, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -336.7830227527341, + 93.60209590330015, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -336.7830227527341, + 96.60209590330015, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -336.7830227527341, + 99.60209590330015, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -336.7830227527341, + 102.60209590330015, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -336.7830227527341, + 105.60209590330015, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -336.7830227527341, + 108.60209590330015, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -336.7830227527341, + 111.60209590330015, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -336.7830227527341, + 114.60209590330015, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -336.7830227527341, + 117.60209590330015, + -22.663890058500506 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -336.7830227527341, + 117.60209590330015, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -335.2830227527341, + 120.20017211465347, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -333.7830227527341, + 122.79824832600679, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -332.4228313446045, + 133.30773601531982, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -332.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -332.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -332.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "turn right", + "value": 30, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -332.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -329.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -326.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -323.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -320.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -317.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -314.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -311.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -308.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -305.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -302.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -299.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -296.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -293.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -290.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -287.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -284.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -281.2830227527341, + 125.3963245373601, + -22.663890058500506 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -278.29589424133303, + 125.47306270599366, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +}