diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-01-19_09-02-47_558714/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-01-19_09-02-47_558714/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ca462844c78bfc4db65ec518008467d13611601 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-01-19_09-02-47_558714/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1597.544572077136, + 279.4477703916367, + 18.172531587018025 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1597.544572077136, + 279.4477703916367, + 21.172531587018025 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1597.544572077136, + 279.4477703916367, + 24.172531587018025 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1597.544572077136, + 279.4477703916367, + 27.172531587018025 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1597.544572077136, + 279.4477703916367, + 30.172531587018025 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1597.544572077136, + 279.4477703916367, + 33.17253158701803 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1597.544572077136, + 279.4477703916367, + 36.17253158701803 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1597.544572077136, + 279.4477703916367, + 39.17253158701803 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1597.544572077136, + 279.4477703916367, + 42.17253158701803 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1597.544572077136, + 279.4477703916367, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1594.9464958657827, + 280.9477703916367, + 42.17253158701803 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1594.9464958657827, + 280.9477703916367, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1591.9464958657827, + 280.9477703916367, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1588.9464958657827, + 280.9477703916367, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1585.9464958657827, + 280.9477703916367, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1582.9464958657827, + 280.9477703916367, + 42.17253158701803 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1582.9464958657827, + 280.9477703916367, + 42.17253158701803 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1582.9464958657827, + 280.9477703916367, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1581.4464958657827, + 278.3496941802834, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1579.9464958657827, + 275.7516179689301, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1578.4464958657827, + 273.15354175757676, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1576.9464958657827, + 270.55546554622345, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1575.4464958657827, + 267.95738933487013, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1573.9464958657827, + 265.3593131235168, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1572.4464958657827, + 262.7612369121635, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1570.9464958657827, + 260.1631607008102, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1569.4464958657827, + 257.56508448945686, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1567.9464958657827, + 254.96700827810355, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1566.4464958657827, + 252.36893206675023, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1564.9464958657827, + 249.77085585539692, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1563.4464958657827, + 247.1727796440436, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1561.9464958657827, + 244.57470343269028, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1560.4464958657827, + 241.97662722133697, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1558.9464958657827, + 239.37855100998365, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1557.4464958657827, + 236.78047479863034, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1555.9464958657827, + 234.18239858727702, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1554.4464958657827, + 231.5843223759237, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1552.9464958657827, + 228.9862461645704, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1551.4464958657827, + 226.38816995321707, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1549.9464958657827, + 223.79009374186376, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1548.4464958657827, + 221.19201753051044, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1546.9464958657827, + 218.59394131915712, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1545.4464958657827, + 215.9958651078038, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1543.9464958657827, + 213.3977888964505, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1542.4464958657827, + 210.79971268509718, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1540.9464958657827, + 208.20163647374386, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1539.4464958657827, + 205.60356026239054, + 42.17253158701803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1537.9464958657827, + 203.00548405103723, + 42.17253158701803 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1537.9464958657827, + 203.00548405103723, + 39.17253158701803 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1537.9464958657827, + 203.00548405103723, + 36.17253158701803 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1537.9464958657827, + 203.00548405103723, + 33.17253158701803 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1537.9464958657827, + 203.00548405103723, + 30.172531587018028 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1537.9464958657827, + 203.00548405103723, + 27.172531587018028 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1537.9464958657827, + 203.00548405103723, + 24.172531587018028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1536.4464958657827, + 200.4074078396839, + 24.172531587018028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1534.9464958657827, + 197.8093316283306, + 24.172531587018028 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1534.9464958657827, + 197.8093316283306, + 21.172531587018028 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1534.9464958657827, + 197.8093316283306, + 18.172531587018028 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1533.4464958657827, + 195.21125541697728, + 18.172531587018028 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1504.0, + 156.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-01-19_09-10-16_389623/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-01-19_09-10-16_389623/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a3d8b682248e961b44ac82af6108b2ae19d7ab13 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-01-19_09-10-16_389623/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1383.4617160287978, + 122.035787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1386.0597922401512, + 123.535787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1388.6578684515046, + 125.035787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1391.255944662858, + 126.535787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1393.8540208742113, + 128.035787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1396.4520970855647, + 129.535787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1399.050173296918, + 131.035787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1401.6482495082714, + 132.535787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1404.2463257196248, + 134.035787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1406.8444019309782, + 135.535787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1409.4424781423315, + 137.035787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1412.040554353685, + 138.535787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1414.6386305650383, + 140.035787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1417.2367067763917, + 141.535787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1419.834782987745, + 143.035787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1422.4328591990984, + 144.535787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1425.0309354104518, + 146.035787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1427.6290116218051, + 147.535787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1430.2270878331585, + 149.035787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1432.825164044512, + 150.535787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1435.4232402558653, + 152.035787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1438.0213164672186, + 153.535787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1440.619392678572, + 155.035787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1443.2174688899254, + 156.535787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1445.8155451012788, + 158.035787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1448.4136213126321, + 159.535787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1451.0116975239855, + 161.035787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1453.6097737353389, + 162.535787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1456.2078499466922, + 164.035787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1458.8059261580456, + 165.535787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1461.404002369399, + 167.035787683595, + 37.45555714973378 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1461.404002369399, + 167.035787683595, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1462.904002369399, + 169.63386389494832, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1464.404002369399, + 172.23194010630164, + 37.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1465.904002369399, + 174.83001631765495, + 37.45555714973378 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1465.904002369399, + 174.83001631765495, + 40.45555714973378 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1465.904002369399, + 174.83001631765495, + 43.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1467.404002369399, + 177.42809252900827, + 43.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1468.904002369399, + 180.02616874036158, + 43.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1470.404002369399, + 182.6242449517149, + 43.45555714973378 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1470.404002369399, + 182.6242449517149, + 46.45555714973378 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1470.404002369399, + 182.6242449517149, + 46.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1473.0020785807524, + 184.1242449517149, + 46.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1475.6001547921057, + 185.6242449517149, + 46.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1478.1982310034591, + 187.1242449517149, + 46.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1480.7963072148125, + 188.6242449517149, + 46.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1483.3943834261659, + 190.1242449517149, + 46.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1485.9924596375192, + 191.6242449517149, + 46.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1488.5905358488726, + 193.1242449517149, + 46.45555714973378 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1488.5905358488726, + 193.1242449517149, + 46.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1490.0905358488726, + 195.72232116306822, + 46.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1491.5905358488726, + 198.32039737442153, + 46.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1493.0905358488726, + 200.91847358577485, + 46.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1494.5905358488726, + 203.51654979712816, + 46.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1496.0905358488726, + 206.11462600848148, + 46.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1497.5905358488726, + 208.7127022198348, + 46.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1499.0905358488726, + 211.3107784311881, + 46.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1500.5905358488726, + 213.90885464254143, + 46.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1502.0905358488726, + 216.50693085389474, + 46.45555714973378 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1502.0905358488726, + 216.50693085389474, + 43.45555714973378 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1502.0905358488726, + 216.50693085389474, + 40.45555714973378 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1502.0905358488726, + 216.50693085389474, + 40.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1504.688612060226, + 218.00693085389474, + 40.45555714973378 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1507.2866882715794, + 219.50693085389474, + 40.45555714973378 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1507.2866882715794, + 219.50693085389474, + 37.45555714973378 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1524.0, + 232.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_19-37-25_596516649/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_19-37-25_596516649/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22ad441165f99559a7ed63843f2aaade7bfc5be8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_19-37-25_596516649/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -638.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -641.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -644.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -647.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -650.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -653.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -656.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -659.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -662.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -665.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -668.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -671.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -674.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -677.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -680.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -683.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -686.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -689.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -692.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -695.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -698.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -701.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -704.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -707.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -710.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -713.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -716.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -719.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -722.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -722.4924937830572, + -1133.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -725.0905699944105, + -1135.464609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -727.6886462057639, + -1136.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -730.2867224171173, + -1138.464609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -732.8847986284707, + -1139.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -735.482874839824, + -1141.464609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -738.0809510511774, + -1142.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -740.6790272625308, + -1144.464609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -743.2771034738842, + -1145.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -745.8751796852375, + -1147.464609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -748.4732558965909, + -1148.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -751.0713321079443, + -1150.464609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -753.6694083192976, + -1151.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -756.267484530651, + -1153.464609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -758.8655607420044, + -1154.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -761.4636369533578, + -1156.464609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -764.0617131647111, + -1157.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -766.6597893760645, + -1159.464609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -769.2578655874179, + -1160.964609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -771.8559417987713, + -1162.464609315722, + 32.99861524979501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -774.4540180101246, + -1163.964609315722, + 32.99861524979501 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -796.0, + -1168.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-1-29_1973594324/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-1-29_1973594324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f2e805cf95fea9f5c05eb5df6374af6b2c5c011 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-1-29_1973594324/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1049.2103022548026, + 727.9917566695741, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1047.7103022548026, + 725.3936804582208, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1046.2103022548026, + 722.7956042468675, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1044.7103022548026, + 720.1975280355141, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1043.2103022548026, + 717.5994518241607, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1041.7103022548026, + 715.0013756128074, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1040.2103022548026, + 712.403299401454, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1038.7103022548026, + 709.8052231901006, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1037.2103022548026, + 707.2071469787472, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1035.7103022548026, + 704.6090707673939, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1034.2103022548026, + 702.0109945560405, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1032.7103022548026, + 699.4129183446871, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1031.2103022548026, + 696.8148421333337, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1029.7103022548026, + 694.2167659219804, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1028.2103022548026, + 691.618689710627, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1026.7103022548026, + 689.0206134992736, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1025.2103022548026, + 686.4225372879202, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1023.7103022548026, + 683.8244610765669, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1022.2103022548026, + 681.2263848652135, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1020.7103022548026, + 678.6283086538601, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1019.2103022548026, + 676.0302324425068, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1017.7103022548026, + 673.4321562311534, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1016.2103022548026, + 670.8340800198, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1014.7103022548026, + 668.2360038084466, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1013.2103022548026, + 665.6379275970933, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1011.7103022548026, + 663.0398513857399, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1010.2103022548026, + 660.4417751743865, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1008.7103022548026, + 657.8436989630331, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1007.2103022548026, + 655.2456227516798, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1005.7103022548026, + 652.6475465403264, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1004.2103022548026, + 650.049470328973, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1002.7103022548026, + 647.4513941176197, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1001.2103022548026, + 644.8533179062663, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 999.7103022548026, + 642.2552416949129, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 998.2103022548026, + 639.6571654835595, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 996.7103022548026, + 637.0590892722062, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 995.2103022548026, + 634.4610130608528, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 993.7103022548026, + 631.8629368494994, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 992.2103022548026, + 629.264860638146, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 990.7103022548026, + 626.6667844267927, + 37.985486585879954 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 990.7103022548026, + 626.6667844267927, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 990.7103022548026, + 623.6667844267927, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 990.7103022548026, + 620.6667844267927, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 990.7103022548026, + 617.6667844267927, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 990.7103022548026, + 614.6667844267927, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 990.7103022548026, + 611.6667844267927, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 990.7103022548026, + 608.6667844267927, + 37.985486585879954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 990.7103022548026, + 605.6667844267927, + 37.985486585879954 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0, + 592.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-24-46_752392754/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-24-46_752392754/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d267ad0bbd8a3fa141c025b14eb77585319a1f86 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-24-46_752392754/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1155.2979117122939, + -88.17472952789461, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1153.7979117122939, + -90.77280573924793, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1152.2979117122939, + -93.37088195060124, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1150.7979117122939, + -95.96895816195456, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1149.2979117122939, + -98.56703437330788, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1147.7979117122939, + -101.16511058466119, + 32.61086555888245 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1147.7979117122939, + -101.16511058466119, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1147.7979117122939, + -104.16511058466119, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1147.7979117122939, + -107.16511058466119, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1147.7979117122939, + -110.16511058466119, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1147.7979117122939, + -113.16511058466119, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1147.7979117122939, + -116.16511058466119, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1147.7979117122939, + -119.16511058466119, + 32.61086555888245 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1147.7979117122939, + -119.16511058466119, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1149.2979117122939, + -121.76318679601451, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1150.7979117122939, + -124.36126300736782, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1152.2979117122939, + -126.95933921872114, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1153.7979117122939, + -129.55741543007446, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1155.2979117122939, + -132.15549164142777, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1156.7979117122939, + -134.7535678527811, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1158.2979117122939, + -137.3516440641344, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1159.7979117122939, + -139.94972027548772, + 32.61086555888245 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1159.7979117122939, + -139.94972027548772, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1162.3959879236472, + -141.44972027548772, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1164.9940641350006, + -142.94972027548772, + 32.61086555888245 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1164.9940641350006, + -142.94972027548772, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1166.4940641350006, + -145.54779648684104, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1167.9940641350006, + -148.14587269819435, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1169.4940641350006, + -150.74394890954767, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1170.9940641350006, + -153.34202512090098, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1172.4940641350006, + -155.9401013322543, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1173.9940641350006, + -158.53817754360762, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1175.4940641350006, + -161.13625375496093, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1176.9940641350006, + -163.73432996631425, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1178.4940641350006, + -166.33240617766756, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1179.9940641350006, + -168.93048238902088, + 32.61086555888245 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1179.9940641350006, + -168.93048238902088, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1179.9940641350006, + -171.93048238902088, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1179.9940641350006, + -174.93048238902088, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1179.9940641350006, + -177.93048238902088, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1179.9940641350006, + -180.93048238902088, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1179.9940641350006, + -183.93048238902088, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1179.9940641350006, + -186.93048238902088, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1179.9940641350006, + -189.93048238902088, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1179.9940641350006, + -192.93048238902088, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1179.9940641350006, + -195.93048238902088, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1179.9940641350006, + -198.93048238902088, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1179.9940641350006, + -201.93048238902088, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1179.9940641350006, + -204.93048238902088, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1179.9940641350006, + -207.93048238902088, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1179.9940641350006, + -210.93048238902088, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1179.9940641350006, + -213.93048238902088, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1179.9940641350006, + -216.93048238902088, + 32.61086555888245 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1179.9940641350006, + -216.93048238902088, + 32.61086555888245 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1179.9940641350006, + -216.93048238902088, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1182.592140346354, + -218.43048238902088, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1185.1902165577073, + -219.93048238902088, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1187.7882927690607, + -221.43048238902088, + 32.61086555888245 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1187.7882927690607, + -221.43048238902088, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -1189.2882927690607, + -224.0285586003742, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -1190.7882927690607, + -226.6266348117275, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -1192.2882927690607, + -229.22471102308083, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -1193.7882927690607, + -231.82278723443414, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -1195.2882927690607, + -234.42086344578746, + 32.61086555888245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -1196.7882927690607, + -237.01893965714078, + 32.61086555888245 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1204.0, + -256.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-38-57_959997301/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-38-57_959997301/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f1e27f176053eb8578ea13826fb7597bd8e083c7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-38-57_959997301/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1051.3078775166146, + 737.2226882597553, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1049.8078775166146, + 734.624612048402, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1048.3078775166146, + 732.0265358370486, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1046.8078775166146, + 729.4284596256953, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1045.3078775166146, + 726.8303834143419, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1043.8078775166146, + 724.2323072029885, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1042.3078775166146, + 721.6342309916351, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1040.8078775166146, + 719.0361547802818, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1039.3078775166146, + 716.4380785689284, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1037.8078775166146, + 713.840002357575, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1036.3078775166146, + 711.2419261462217, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1034.8078775166146, + 708.6438499348683, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1033.3078775166146, + 706.0457737235149, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1031.8078775166146, + 703.4476975121615, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1030.3078775166146, + 700.8496213008082, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1028.8078775166146, + 698.2515450894548, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1027.3078775166146, + 695.6534688781014, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1025.8078775166146, + 693.055392666748, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1024.3078775166146, + 690.4573164553947, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1022.8078775166146, + 687.8592402440413, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1021.3078775166146, + 685.2611640326879, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1019.8078775166146, + 682.6630878213346, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1018.3078775166146, + 680.0650116099812, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1016.8078775166146, + 677.4669353986278, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1015.3078775166146, + 674.8688591872744, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1013.8078775166146, + 672.2707829759211, + 33.110835576146044 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1013.8078775166146, + 672.2707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1011.2098013052612, + 670.7707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1008.6117250939078, + 669.2707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1006.0136488825544, + 667.7707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1003.4155726712011, + 666.2707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1000.8174964598477, + 664.7707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 998.2194202484943, + 663.2707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 995.621344037141, + 661.7707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 993.0232678257876, + 660.2707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 990.4251916144342, + 658.7707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 987.8271154030808, + 657.2707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 985.2290391917275, + 655.7707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 982.6309629803741, + 654.2707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 980.0328867690207, + 652.7707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 977.4348105576673, + 651.2707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 974.836734346314, + 649.7707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 972.2386581349606, + 648.2707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 969.6405819236072, + 646.7707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 967.0425057122538, + 645.2707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 964.4444295009005, + 643.7707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 961.8463532895471, + 642.2707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 959.2482770781937, + 640.7707829759211, + 33.110835576146044 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 956.6502008668404, + 639.2707829759211, + 33.110835576146044 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 940.0, + 620.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-49-16_791698927/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-49-16_791698927/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca5338c08e83d7f24b893319c0c868c93ffeec9c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-49-16_791698927/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 567.2136537466176, + 459.503451006106, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 568.7136537466176, + 456.9053747947527, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 570.2136537466176, + 454.30729858339936, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 571.7136537466176, + 451.70922237204604, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 573.2136537466176, + 449.1111461606927, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 574.7136537466176, + 446.5130699493394, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 576.2136537466176, + 443.9149937379861, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 577.7136537466176, + 441.3169175266328, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 579.2136537466176, + 438.71884131527946, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 580.7136537466176, + 436.12076510392615, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 582.2136537466176, + 433.52268889257283, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 583.7136537466176, + 430.9246126812195, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 585.2136537466176, + 428.3265364698662, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 586.7136537466176, + 425.7284602585129, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 588.2136537466176, + 423.13038404715957, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 589.7136537466176, + 420.53230783580625, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 591.2136537466176, + 417.93423162445293, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 592.7136537466176, + 415.3361554130996, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 594.2136537466176, + 412.7380792017463, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 595.7136537466176, + 410.140002990393, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 597.2136537466176, + 407.54192677903967, + 37.76875031334886 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 597.2136537466176, + 407.54192677903967, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 599.811729957971, + 406.04192677903967, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 602.4098061693244, + 404.54192677903967, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 605.0078823806778, + 403.04192677903967, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 607.6059585920311, + 401.54192677903967, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 610.2040348033845, + 400.04192677903967, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 612.8021110147379, + 398.54192677903967, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 615.4001872260912, + 397.04192677903967, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 617.9982634374446, + 395.54192677903967, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 620.596339648798, + 394.04192677903967, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 623.1944158601514, + 392.54192677903967, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 625.7924920715047, + 391.04192677903967, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 628.3905682828581, + 389.54192677903967, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 630.9886444942115, + 388.04192677903967, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 633.5867207055649, + 386.54192677903967, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 636.1847969169182, + 385.04192677903967, + 37.76875031334886 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 638.7828731282716, + 383.54192677903967, + 37.76875031334886 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.0, + 348.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-52-8_327254586/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-52-8_327254586/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..14e2220a1e872d1d0bd4a6da8f059dfda6cf3402 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-52-8_327254586/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 831.0745746171978, + 395.50376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 828.4764984058445, + 394.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 825.8784221944911, + 392.50376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 823.2803459831377, + 391.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 820.6822697717844, + 389.50376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 818.084193560431, + 388.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 815.4861173490776, + 386.50376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 812.8880411377243, + 385.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 810.2899649263709, + 383.50376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 807.6918887150175, + 382.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 805.0938125036641, + 380.50376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 802.4957362923108, + 379.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 799.8976600809574, + 377.50376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 797.299583869604, + 376.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 794.7015076582506, + 374.50376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 792.1034314468973, + 373.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 789.5053552355439, + 371.50376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 786.9072790241905, + 370.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 784.3092028128372, + 368.50376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 781.7111266014838, + 367.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 779.1130503901304, + 365.50376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 776.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 776.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 773.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 770.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 767.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 764.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 761.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 758.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 755.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 752.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 749.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 746.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 743.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 740.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 737.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 734.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 731.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 728.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 725.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 722.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 719.514974178777, + 364.00376866146445, + 37.12845391619206 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.0, + 348.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-55-3_160051528/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-55-3_160051528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..887f425a66ecb4f838b884e60f8991bc5c94b621 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-55-3_160051528/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 195.62661955874134, + -497.3077211930713, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 198.62661955874134, + -497.3077211930713, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 201.62661955874134, + -497.3077211930713, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 204.62661955874134, + -497.3077211930713, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 207.62661955874134, + -497.3077211930713, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 210.62661955874134, + -497.3077211930713, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 213.62661955874134, + -497.3077211930713, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 216.62661955874134, + -497.3077211930713, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 219.62661955874134, + -497.3077211930713, + 33.8786342318988 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 219.62661955874134, + -497.3077211930713, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 222.22469577009466, + -495.8077211930713, + 33.8786342318988 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 222.22469577009466, + -495.8077211930713, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 223.72469577009466, + -493.209644981718, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 225.22469577009466, + -490.61156877036467, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 226.72469577009466, + -488.01349255901135, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 228.22469577009466, + -485.41541634765804, + 33.8786342318988 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 228.22469577009466, + -485.41541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 230.82277198144797, + -483.91541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 233.4208481928013, + -482.41541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 236.0189244041546, + -480.91541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 238.61700061550792, + -479.41541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 241.21507682686124, + -477.91541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 243.81315303821455, + -476.41541634765804, + 33.8786342318988 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 243.81315303821455, + -476.41541634765804, + 33.8786342318988 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 243.81315303821455, + -476.41541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 246.41122924956787, + -477.91541634765804, + 33.8786342318988 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 246.41122924956787, + -477.91541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 249.41122924956787, + -477.91541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 252.41122924956787, + -477.91541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 255.41122924956787, + -477.91541634765804, + 33.8786342318988 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 255.41122924956787, + -477.91541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 258.00930546092115, + -479.41541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983036 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 260.60738167227447, + -480.91541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 263.2054578836278, + -482.41541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 265.8035340949811, + -483.91541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 268.4016103063344, + -485.41541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 270.99968651768773, + -486.91541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 273.59776272904105, + -488.41541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 276.19583894039437, + -489.91541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 278.7939151517477, + -491.41541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 281.391991363101, + -492.91541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 283.9900675744543, + -494.41541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 286.58814378580763, + -495.91541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 289.18621999716095, + -497.41541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 291.78429620851426, + -498.91541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 294.3823724198676, + -500.41541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 296.9804486312209, + -501.91541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 299.5785248425742, + -503.41541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 302.1766010539275, + -504.91541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 304.77467726528084, + -506.41541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 307.37275347663416, + -507.91541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 309.9708296879875, + -509.41541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 312.5689058993408, + -510.91541634765804, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 315.1669821106941, + -512.415416347658, + 33.8786342318988 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 315.1669821106941, + -512.415416347658, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 316.6669821106941, + -515.0134925590114, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 318.1669821106941, + -517.6115687703648, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 319.6669821106941, + -520.2096449817182, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 321.1669821106941, + -522.8077211930715, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 322.6669821106941, + -525.4057974044249, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 324.1669821106941, + -528.0038736157783, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 325.6669821106941, + -530.6019498271316, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 327.1669821106941, + -533.200026038485, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 328.6669821106941, + -535.7981022498384, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 330.1669821106941, + -538.3961784611918, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 331.6669821106941, + -540.9942546725451, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 333.1669821106941, + -543.5923308838985, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 334.6669821106941, + -546.1904070952519, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 336.1669821106941, + -548.7884833066053, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 337.6669821106941, + -551.3865595179586, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 339.1669821106941, + -553.984635729312, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 340.6669821106941, + -556.5827119406654, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 342.1669821106941, + -559.1807881520187, + 33.8786342318988 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 343.6669821106941, + -561.7788643633721, + 33.8786342318988 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.0, + -568.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-57-30_1120048829/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-57-30_1120048829/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2189cde6973616704bc987e5b22ddc8b57c40b11 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-57-30_1120048829/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1631.99433569894, + 129.8771223889781, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1633.49433569894, + 127.27904617762479, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1634.99433569894, + 124.68096996627148, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1636.49433569894, + 122.08289375491816, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1637.99433569894, + 119.48481754356484, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1639.49433569894, + 116.88674133221153, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1640.99433569894, + 114.28866512085821, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1642.49433569894, + 111.6905889095049, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1643.99433569894, + 109.09251269815158, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1645.49433569894, + 106.49443648679826, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1646.99433569894, + 103.89636027544495, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1648.49433569894, + 101.29828406409163, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1649.99433569894, + 98.70020785273832, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1651.49433569894, + 96.102131641385, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1652.99433569894, + 93.50405543003168, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1654.49433569894, + 90.90597921867837, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1655.99433569894, + 88.30790300732505, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1657.49433569894, + 85.70982679597174, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1658.99433569894, + 83.11175058461842, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1660.49433569894, + 80.5136743732651, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1661.99433569894, + 77.91559816191179, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1663.49433569894, + 75.31752195055847, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1664.99433569894, + 72.71944573920516, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1666.49433569894, + 70.12136952785184, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1667.99433569894, + 67.52329331649852, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1669.49433569894, + 64.92521710514521, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1670.99433569894, + 62.32714089379189, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1672.49433569894, + 59.729064682438576, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1673.99433569894, + 57.13098847108526, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1675.49433569894, + 54.532912259731944, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1676.99433569894, + 51.93483604837863, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1678.49433569894, + 49.33675983702531, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1679.99433569894, + 46.738683625671996, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1681.49433569894, + 44.14060741431868, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1682.99433569894, + 41.542531202965364, + 33.47634349314815 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1682.99433569894, + 41.542531202965364, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1682.99433569894, + 38.542531202965364, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1682.99433569894, + 35.542531202965364, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1682.99433569894, + 32.542531202965364, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1682.99433569894, + 29.542531202965364, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1682.99433569894, + 26.542531202965364, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1682.99433569894, + 23.542531202965364, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1682.99433569894, + 20.542531202965364, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1682.99433569894, + 17.542531202965364, + 33.47634349314815 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1682.99433569894, + 14.542531202965364, + 33.47634349314815 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1692.0, + -8.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-6-9_1911759956/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-6-9_1911759956/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..21841023ba0d3a9be05a6b20ef8157f4cc72c6e6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-6-9_1911759956/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1049.4125205184353, + -1139.4377157482297, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1049.4125205184353, + -1136.4377157482297, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1049.4125205184353, + -1133.4377157482297, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1049.4125205184353, + -1130.4377157482297, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1049.4125205184353, + -1127.4377157482297, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1049.4125205184353, + -1124.4377157482297, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1049.4125205184353, + -1121.4377157482297, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1049.4125205184353, + -1118.4377157482297, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1049.4125205184353, + -1115.4377157482297, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1049.4125205184353, + -1112.4377157482297, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1049.4125205184353, + -1109.4377157482297, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1049.4125205184353, + -1106.4377157482297, + 30.384558427588722 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1049.4125205184353, + -1106.4377157482297, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1047.9125205184353, + -1103.8396395368763, + 30.384558427588722 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1047.9125205184353, + -1103.8396395368763, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1045.3144443070819, + -1102.3396395368763, + 30.384558427588722 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1045.3144443070819, + -1102.3396395368763, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1043.8144443070819, + -1099.741563325523, + 30.384558427588722 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1043.8144443070819, + -1099.741563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1043.8144443070819, + -1096.741563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1043.8144443070819, + -1093.741563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1043.8144443070819, + -1090.741563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1043.8144443070819, + -1087.741563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1043.8144443070819, + -1084.741563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1043.8144443070819, + -1081.741563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1043.8144443070819, + -1078.741563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1043.8144443070819, + -1075.741563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1043.8144443070819, + -1072.741563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1043.8144443070819, + -1069.741563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1043.8144443070819, + -1066.741563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1043.8144443070819, + -1063.741563325523, + 30.384558427588722 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1043.8144443070819, + -1063.741563325523, + 30.384558427588722 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1043.8144443070819, + -1063.741563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1046.4125205184353, + -1062.241563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1049.0105967297886, + -1060.741563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1051.608672941142, + -1059.241563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1054.2067491524954, + -1057.741563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1056.8048253638487, + -1056.241563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1059.4029015752021, + -1054.741563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1062.0009777865555, + -1053.241563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1064.5990539979089, + -1051.741563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1067.1971302092622, + -1050.241563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1069.7952064206156, + -1048.741563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1072.393282631969, + -1047.241563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1074.9913588433224, + -1045.741563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1077.5894350546757, + -1044.241563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1080.187511266029, + -1042.741563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1082.7855874773825, + -1041.241563325523, + 30.384558427588722 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1082.7855874773825, + -1041.241563325523, + 30.384558427588722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1084.2855874773825, + -1038.6434871141696, + 30.384558427588722 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1100.0, + -996.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-9-25_2084420925/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-9-25_2084420925/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ff7199cc2aaa072e5dbc426f49c770565b71fa0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_20-9-25_2084420925/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -20.186456347070916, + 967.0189718478932, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -21.686456347070916, + 964.4208956365399, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -23.186456347070916, + 961.8228194251865, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -24.686456347070916, + 959.2247432138331, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -26.186456347070916, + 956.6266670024797, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -27.686456347070916, + 954.0285907911264, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -29.186456347070916, + 951.430514579773, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -30.686456347070916, + 948.8324383684196, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -32.186456347070916, + 946.2343621570662, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -33.686456347070916, + 943.6362859457129, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -35.186456347070916, + 941.0382097343595, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -36.686456347070916, + 938.4401335230061, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -38.186456347070916, + 935.8420573116528, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -39.686456347070916, + 933.2439811002994, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -41.186456347070916, + 930.645904888946, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -42.686456347070916, + 928.0478286775926, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -44.186456347070916, + 925.4497524662393, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -45.686456347070916, + 922.8516762548859, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -47.186456347070916, + 920.2536000435325, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -48.686456347070916, + 917.6555238321791, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -50.186456347070916, + 915.0574476208258, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -51.686456347070916, + 912.4593714094724, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -53.186456347070916, + 909.861295198119, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -54.686456347070916, + 907.2632189867657, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -56.186456347070916, + 904.6651427754123, + 32.49279494845953 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -56.186456347070916, + 904.6651427754123, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -58.78453255842423, + 903.1651427754123, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -61.38260876977755, + 901.6651427754123, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -63.980684981130864, + 900.1651427754123, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -66.57876119248418, + 898.6651427754123, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -69.1768374038375, + 897.1651427754123, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -71.77491361519081, + 895.6651427754123, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -74.37298982654413, + 894.1651427754123, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -76.97106603789744, + 892.6651427754123, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -79.56914224925076, + 891.1651427754123, + 32.49279494845953 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -79.56914224925076, + 891.1651427754123, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -81.06914224925076, + 888.5670665640589, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -82.56914224925076, + 885.9689903527055, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -84.06914224925076, + 883.3709141413522, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -85.56914224925076, + 880.7728379299988, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -87.06914224925076, + 878.1747617186454, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -88.56914224925076, + 875.576685507292, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -90.06914224925076, + 872.9786092959387, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -91.56914224925076, + 870.3805330845853, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -93.06914224925076, + 867.7824568732319, + 32.49279494845953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -94.56914224925076, + 865.1843806618785, + 32.49279494845953 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -120.0, + 836.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-21-22_213975407/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-21-22_213975407/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a4d06e14a89b4e460843cd3fa01a6103effce9e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-21-22_213975407/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1039.6069430537507, + 735.198922559477, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1038.1069430537507, + 732.6008463481237, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1036.6069430537507, + 730.0027701367703, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1035.1069430537507, + 727.404693925417, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1033.6069430537507, + 724.8066177140636, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1032.1069430537507, + 722.2085415027102, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1030.6069430537507, + 719.6104652913568, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1029.1069430537507, + 717.0123890800035, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1027.6069430537507, + 714.4143128686501, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1026.1069430537507, + 711.8162366572967, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1024.6069430537507, + 709.2181604459433, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1023.1069430537507, + 706.62008423459, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1021.6069430537507, + 704.0220080232366, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1020.1069430537507, + 701.4239318118832, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1018.6069430537507, + 698.8258556005298, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1017.1069430537507, + 696.2277793891765, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1015.6069430537507, + 693.6297031778231, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1014.1069430537507, + 691.0316269664697, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1012.6069430537507, + 688.4335507551164, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1011.1069430537507, + 685.835474543763, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1009.6069430537507, + 683.2373983324096, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1008.1069430537507, + 680.6393221210562, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1006.6069430537507, + 678.0412459097029, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1005.1069430537507, + 675.4431696983495, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1003.6069430537507, + 672.8450934869961, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1002.1069430537507, + 670.2470172756427, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1000.6069430537507, + 667.6489410642894, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 999.1069430537507, + 665.050864852936, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 997.6069430537507, + 662.4527886415826, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 996.1069430537507, + 659.8547124302293, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 994.6069430537507, + 657.2566362188759, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 993.1069430537507, + 654.6585600075225, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 991.6069430537507, + 652.0604837961691, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 990.1069430537507, + 649.4624075848158, + 37.11578334975175 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 990.1069430537507, + 649.4624075848158, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 990.1069430537507, + 646.4624075848158, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 990.1069430537507, + 643.4624075848158, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 990.1069430537507, + 640.4624075848158, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 990.1069430537507, + 637.4624075848158, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 990.1069430537507, + 634.4624075848158, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 990.1069430537507, + 631.4624075848158, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 990.1069430537507, + 628.4624075848158, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 990.1069430537507, + 625.4624075848158, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 990.1069430537507, + 622.4624075848158, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 990.1069430537507, + 619.4624075848158, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 990.1069430537507, + 616.4624075848158, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 990.1069430537507, + 613.4624075848158, + 37.11578334975175 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 990.1069430537507, + 610.4624075848158, + 37.11578334975175 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0, + 592.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-24-24_1239036029/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-24-24_1239036029/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87ba3ae3a1ab5236c135c0699087284f272fbc8a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-24-24_1239036029/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -262.9322520743059, + 87.1121642471214, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -264.4322520743059, + 89.71024045847471, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -265.9322520743059, + 92.30831666982803, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -267.4322520743059, + 94.90639288118135, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -268.9322520743059, + 97.50446909253466, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -270.4322520743059, + 100.10254530388798, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -271.9322520743059, + 102.7006215152413, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -273.4322520743059, + 105.29869772659461, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -274.9322520743059, + 107.89677393794793, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -276.4322520743059, + 110.49485014930124, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -277.9322520743059, + 113.09292636065456, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -279.4322520743059, + 115.69100257200787, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -280.9322520743059, + 118.28907878336119, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -282.4322520743059, + 120.8871549947145, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -283.9322520743059, + 123.48523120606782, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -285.4322520743059, + 126.08330741742114, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -286.9322520743059, + 128.68138362877446, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -288.4322520743059, + 131.27945984012777, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -289.9322520743059, + 133.8775360514811, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -291.4322520743059, + 136.4756122628344, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -292.9322520743059, + 139.07368847418772, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -294.4322520743059, + 141.67176468554104, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -295.9322520743059, + 144.26984089689435, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -297.4322520743059, + 146.86791710824767, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -298.9322520743059, + 149.46599331960098, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -300.4322520743059, + 152.0640695309543, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -301.9322520743059, + 154.66214574230762, + 33.52251516315224 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -301.9322520743059, + 154.66214574230762, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -301.9322520743059, + 157.66214574230762, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -301.9322520743059, + 160.66214574230762, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -301.9322520743059, + 163.66214574230762, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -301.9322520743059, + 166.66214574230762, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -301.9322520743059, + 169.66214574230762, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -301.9322520743059, + 172.66214574230762, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -301.9322520743059, + 175.66214574230762, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -301.9322520743059, + 178.66214574230762, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -301.9322520743059, + 181.66214574230762, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -301.9322520743059, + 184.66214574230762, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -301.9322520743059, + 187.66214574230762, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -301.9322520743059, + 190.66214574230762, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -301.9322520743059, + 193.66214574230762, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -301.9322520743059, + 196.66214574230762, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -301.9322520743059, + 199.66214574230762, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -301.9322520743059, + 202.66214574230762, + 33.52251516315224 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -301.9322520743059, + 205.66214574230762, + 33.52251516315224 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -320.0, + 256.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-33-14_1067854538/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-33-14_1067854538/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1231c86fea90d93730091a2bce810dcc6569077b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-33-14_1067854538/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 925.4613221045732, + -748.4418613569123, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 926.9613221045732, + -751.0399375682657, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 928.4613221045732, + -753.6380137796191, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 929.9613221045732, + -756.2360899909725, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 931.4613221045732, + -758.8341662023258, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 932.9613221045732, + -761.4322424136792, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 934.4613221045732, + -764.0303186250326, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 935.9613221045732, + -766.628394836386, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 937.4613221045732, + -769.2264710477393, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 938.9613221045732, + -771.8245472590927, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 940.4613221045732, + -774.4226234704461, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 941.9613221045732, + -777.0206996817994, + 38.504773093904454 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 941.9613221045732, + -777.0206996817994, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 941.9613221045732, + -780.0206996817994, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 941.9613221045732, + -783.0206996817994, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 941.9613221045732, + -786.0206996817994, + 38.504773093904454 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 941.9613221045732, + -786.0206996817994, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 943.4613221045732, + -788.6187758931528, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 944.9613221045732, + -791.2168521045062, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 946.4613221045732, + -793.8149283158596, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 947.9613221045732, + -796.4130045272129, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 949.4613221045732, + -799.0110807385663, + 38.504773093904454 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 949.4613221045732, + -799.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 952.0593983159265, + -800.5110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 954.6574745272799, + -802.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 957.2555507386332, + -803.5110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 959.8536269499866, + -805.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 962.45170316134, + -806.5110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 965.0497793726934, + -808.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 967.6478555840467, + -809.5110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 970.2459317954001, + -811.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 972.8440080067535, + -812.5110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 975.4420842181069, + -814.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 978.0401604294602, + -815.5110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 980.6382366408136, + -817.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 983.236312852167, + -818.5110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 985.8343890635203, + -820.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 988.4324652748737, + -821.5110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 991.0305414862271, + -823.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 993.6286176975805, + -824.5110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 996.2266939089338, + -826.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 998.8247701202872, + -827.5110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1001.4228463316406, + -829.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1004.020922542994, + -830.5110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1006.6189987543473, + -832.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1009.2170749657007, + -833.5110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1011.8151511770541, + -835.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1014.4132273884074, + -836.5110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1017.0113035997608, + -838.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1019.6093798111142, + -839.5110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1022.2074560224676, + -841.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1024.805532233821, + -842.5110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1027.4036084451743, + -844.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1030.0016846565277, + -845.5110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1032.599760867881, + -847.0110807385663, + 38.504773093904454 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1032.599760867881, + -847.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1035.599760867881, + -847.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1038.599760867881, + -847.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1041.599760867881, + -847.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1044.599760867881, + -847.0110807385663, + 38.504773093904454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1047.599760867881, + -847.0110807385663, + 38.504773093904454 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1064.0, + -860.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-39-43_496987743/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-39-43_496987743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c81b48231c37d6455fb88c1f811693a70d44f56 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_21-39-43_496987743/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1789.6996690149422, + -538.2293655868515, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1789.6996690149422, + -541.2293655868515, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1789.6996690149422, + -544.2293655868515, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1789.6996690149422, + -547.2293655868515, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1789.6996690149422, + -550.2293655868515, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1789.6996690149422, + -553.2293655868515, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1789.6996690149422, + -556.2293655868515, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1789.6996690149422, + -559.2293655868515, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1789.6996690149422, + -562.2293655868515, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1789.6996690149422, + -565.2293655868515, + 38.827754607959925 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1789.6996690149422, + -565.2293655868515, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1791.1996690149422, + -567.8274417982047, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1792.6996690149422, + -570.4255180095581, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1794.1996690149422, + -573.0235942209115, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1795.6996690149422, + -575.6216704322649, + 38.827754607959925 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1795.6996690149422, + -575.6216704322649, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1795.6996690149422, + -578.6216704322649, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1795.6996690149422, + -581.6216704322649, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1795.6996690149422, + -584.6216704322649, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1795.6996690149422, + -587.6216704322649, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1795.6996690149422, + -590.6216704322649, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1795.6996690149422, + -593.6216704322649, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1795.6996690149422, + -596.6216704322649, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1795.6996690149422, + -599.6216704322649, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1795.6996690149422, + -602.6216704322649, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1795.6996690149422, + -605.6216704322649, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1795.6996690149422, + -608.6216704322649, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1795.6996690149422, + -611.6216704322649, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1795.6996690149422, + -614.6216704322649, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1795.6996690149422, + -617.6216704322649, + 38.827754607959925 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1795.6996690149422, + -617.6216704322649, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1794.1996690149422, + -620.2197466436182, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1792.6996690149422, + -622.8178228549716, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1791.1996690149422, + -625.415899066325, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1789.6996690149422, + -628.0139752776784, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1788.1996690149422, + -630.6120514890317, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1786.6996690149422, + -633.2101277003851, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1785.1996690149422, + -635.8082039117385, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1783.6996690149422, + -638.4062801230918, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1782.1996690149422, + -641.0043563344452, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1780.6996690149422, + -643.6024325457986, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1779.1996690149422, + -646.200508757152, + 38.827754607959925 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1777.6996690149422, + -648.7985849685053, + 38.827754607959925 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1772.0, + -688.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-23-59_1472713773/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-23-59_1472713773/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4eaece11fd9e386082789e4159e30c2483b24566 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-23-59_1472713773/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 898.9707243484021, + 1265.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 898.9707243484021, + 1262.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 898.9707243484021, + 1259.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 898.9707243484021, + 1256.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 898.9707243484021, + 1253.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 898.9707243484021, + 1250.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 898.9707243484021, + 1247.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 898.9707243484021, + 1244.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 898.9707243484021, + 1241.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 898.9707243484021, + 1238.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 898.9707243484021, + 1235.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 898.9707243484021, + 1232.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 898.9707243484021, + 1229.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 898.9707243484021, + 1226.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 898.9707243484021, + 1223.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 898.9707243484021, + 1220.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 898.9707243484021, + 1217.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 898.9707243484021, + 1214.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 898.9707243484021, + 1211.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 898.9707243484021, + 1208.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 898.9707243484021, + 1205.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 898.9707243484021, + 1202.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 898.9707243484021, + 1199.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 898.9707243484021, + 1196.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 898.9707243484021, + 1193.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 898.9707243484021, + 1190.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 898.9707243484021, + 1187.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 898.9707243484021, + 1184.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 898.9707243484021, + 1181.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 898.9707243484021, + 1178.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 898.9707243484021, + 1175.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 898.9707243484021, + 1172.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 898.9707243484021, + 1169.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 898.9707243484021, + 1166.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 898.9707243484021, + 1163.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 898.9707243484021, + 1160.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 898.9707243484021, + 1157.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 898.9707243484021, + 1154.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 898.9707243484021, + 1151.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 898.9707243484021, + 1148.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 898.9707243484021, + 1145.348960013031, + 37.315133721255016 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 898.9707243484021, + 1145.348960013031, + 37.315133721255016 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 898.9707243484021, + 1145.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 901.5688005597553, + 1143.848960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 904.1668767711087, + 1142.348960013031, + 37.315133721255016 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 904.1668767711087, + 1142.348960013031, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 905.6668767711087, + 1139.7508838016777, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 907.1668767711087, + 1137.1528075903243, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 908.6668767711087, + 1134.554731378971, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 910.1668767711087, + 1131.9566551676176, + 37.315133721255016 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 911.6668767711087, + 1129.3585789562642, + 37.315133721255016 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 916.0, + 1112.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-28-27_638422090/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-28-27_638422090/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ba5d816bdc0a1ac2ab834d4e38e2c3bf50d9dfb --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-28-27_638422090/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1497.941293444132, + -343.63219450495154, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1499.441293444132, + -341.0341182935982, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1500.941293444132, + -338.4360420822449, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1502.441293444132, + -335.8379658708916, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1503.941293444132, + -333.2398896595383, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1505.441293444132, + -330.64181344818496, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1506.941293444132, + -328.04373723683165, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1508.441293444132, + -325.44566102547833, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1509.941293444132, + -322.847584814125, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1511.441293444132, + -320.2495086027717, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1512.941293444132, + -317.6514323914184, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1514.441293444132, + -315.05335618006507, + 30.84990828556874 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1514.441293444132, + -315.05335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1517.0393696554854, + -313.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1519.6374458668388, + -312.05335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1522.2355220781922, + -310.55335618006507, + 30.84990828556874 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1522.2355220781922, + -310.55335618006507, + 30.84990828556874 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1522.2355220781922, + -310.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1522.2355220781922, + -307.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1522.2355220781922, + -304.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1522.2355220781922, + -301.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1522.2355220781922, + -298.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1522.2355220781922, + -295.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1522.2355220781922, + -292.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1522.2355220781922, + -289.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1522.2355220781922, + -286.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1522.2355220781922, + -283.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1522.2355220781922, + -280.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1522.2355220781922, + -277.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1522.2355220781922, + -274.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1522.2355220781922, + -271.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1522.2355220781922, + -268.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1522.2355220781922, + -265.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1522.2355220781922, + -262.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1522.2355220781922, + -259.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1522.2355220781922, + -256.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1522.2355220781922, + -253.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1522.2355220781922, + -250.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1522.2355220781922, + -247.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1522.2355220781922, + -244.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1522.2355220781922, + -241.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1522.2355220781922, + -238.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1522.2355220781922, + -235.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1522.2355220781922, + -232.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1522.2355220781922, + -229.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1522.2355220781922, + -226.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1522.2355220781922, + -223.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1522.2355220781922, + -220.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1522.2355220781922, + -217.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1522.2355220781922, + -214.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1522.2355220781922, + -211.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1522.2355220781922, + -208.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1522.2355220781922, + -205.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1522.2355220781922, + -202.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1522.2355220781922, + -199.55335618006507, + 30.84990828556874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1522.2355220781922, + -196.55335618006507, + 30.84990828556874 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1528.0, + -172.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-51-16_719346228/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-51-16_719346228/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6aca5509d2ead078eb9bbc135cc76291a35b8c27 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-51-16_719346228/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1713.9343612913597, + -211.2293375993527, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1715.4343612913597, + -208.6312613879994, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1716.9343612913597, + -206.03318517664607, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1718.4343612913597, + -203.43510896529276, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1719.9343612913597, + -200.83703275393944, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1721.4343612913597, + -198.23895654258612, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1722.9343612913597, + -195.6408803312328, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1724.4343612913597, + -193.0428041198795, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1725.9343612913597, + -190.44472790852618, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1727.4343612913597, + -187.84665169717286, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1728.9343612913597, + -185.24857548581954, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1730.4343612913597, + -182.65049927446623, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1731.9343612913597, + -180.0524230631129, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1733.4343612913597, + -177.4543468517596, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1734.9343612913597, + -174.85627064040628, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1736.4343612913597, + -172.25819442905296, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1737.9343612913597, + -169.66011821769965, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1739.4343612913597, + -167.06204200634633, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1740.9343612913597, + -164.46396579499302, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1742.4343612913597, + -161.8658895836397, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1743.9343612913597, + -159.26781337228638, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1745.4343612913597, + -156.66973716093307, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1746.9343612913597, + -154.07166094957975, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1748.4343612913597, + -151.47358473822644, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1749.9343612913597, + -148.87550852687312, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1751.4343612913597, + -146.2774323155198, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1752.9343612913597, + -143.6793561041665, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1754.4343612913597, + -141.08127989281317, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1755.9343612913597, + -138.48320368145986, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1757.4343612913597, + -135.88512747010654, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1758.9343612913597, + -133.28705125875322, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1760.4343612913597, + -130.6889750473999, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1761.9343612913597, + -128.0908988360466, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1763.4343612913597, + -125.49282262469328, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1764.9343612913597, + -122.89474641333996, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1766.4343612913597, + -120.29667020198664, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1767.9343612913597, + -117.69859399063333, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1769.4343612913597, + -115.10051777928001, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1770.9343612913597, + -112.5024415679267, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1772.4343612913597, + -109.90436535657338, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1773.9343612913597, + -107.30628914522006, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1775.4343612913597, + -104.70821293386675, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1776.9343612913597, + -102.11013672251343, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1778.4343612913597, + -99.51206051116012, + 34.91776503913623 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1779.9343612913597, + -96.9139842998068, + 34.91776503913623 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1804.0, + -60.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-54-3_324763920/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-54-3_324763920/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5793904810a54eb8a9d456f877490323987f83f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_22-54-3_324763920/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1071.662923213449, + -757.7594125408325, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1070.162923213449, + -755.1613363294791, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1068.662923213449, + -752.5632601181258, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1067.162923213449, + -749.9651839067724, + 36.970009032897735 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1067.162923213449, + -749.9651839067724, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1067.162923213449, + -746.9651839067724, + 36.970009032897735 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1067.162923213449, + -746.9651839067724, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1065.662923213449, + -744.367107695419, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1064.162923213449, + -741.7690314840656, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1062.662923213449, + -739.1709552727123, + 36.970009032897735 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1062.662923213449, + -739.1709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1060.0648470020956, + -737.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1057.4667707907422, + -736.1709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1054.8686945793888, + -734.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1052.2706183680355, + -733.1709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1049.672542156682, + -731.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1047.0744659453287, + -730.1709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1044.4763897339753, + -728.6709552727123, + 36.970009032897735 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1044.4763897339753, + -728.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1041.4763897339753, + -728.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1038.4763897339753, + -728.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1035.4763897339753, + -728.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1032.4763897339753, + -728.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1029.4763897339753, + -728.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1026.4763897339753, + -728.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1023.4763897339753, + -728.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1020.4763897339753, + -728.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1017.4763897339753, + -728.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1014.4763897339753, + -728.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1011.4763897339753, + -728.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1008.4763897339753, + -728.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1005.4763897339753, + -728.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1002.4763897339753, + -728.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 999.4763897339753, + -728.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 996.4763897339753, + -728.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 993.4763897339753, + -728.6709552727123, + 36.970009032897735 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 993.4763897339753, + -728.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 990.878313522622, + -727.1709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 988.2802373112686, + -725.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 985.6821610999152, + -724.1709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 983.0840848885618, + -722.6709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 980.4860086772085, + -721.1709552727123, + 36.970009032897735 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 980.4860086772085, + -721.1709552727123, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 978.9860086772085, + -718.5728790613589, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 977.4860086772085, + -715.9748028500055, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 975.9860086772085, + -713.3767266386521, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 974.4860086772085, + -710.7786504272988, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 972.9860086772085, + -708.1805742159454, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 971.4860086772085, + -705.582498004592, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 969.9860086772085, + -702.9844217932387, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 968.4860086772085, + -700.3863455818853, + 36.970009032897735 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 966.9860086772085, + -697.7882693705319, + 36.970009032897735 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 920.0, + -668.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-40-4_1329132133/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-40-4_1329132133/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1f44fd4f16330c749cc104ede1691bd6f4fb4688 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-1_23-40-4_1329132133/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1098.7839296061343, + 715.0512120932019, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1097.2839296061343, + 712.4531358818485, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1095.7839296061343, + 709.8550596704952, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1094.2839296061343, + 707.2569834591418, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1092.7839296061343, + 704.6589072477884, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1091.2839296061343, + 702.060831036435, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1089.7839296061343, + 699.4627548250817, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1088.2839296061343, + 696.8646786137283, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1086.7839296061343, + 694.2666024023749, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1085.2839296061343, + 691.6685261910216, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1083.7839296061343, + 689.0704499796682, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1082.2839296061343, + 686.4723737683148, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1080.7839296061343, + 683.8742975569614, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1079.2839296061343, + 681.2762213456081, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1077.7839296061343, + 678.6781451342547, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1076.2839296061343, + 676.0800689229013, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1074.7839296061343, + 673.481992711548, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1073.2839296061343, + 670.8839165001946, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1071.7839296061343, + 668.2858402888412, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1070.2839296061343, + 665.6877640774878, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1068.7839296061343, + 663.0896878661345, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1067.2839296061343, + 660.4916116547811, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1065.7839296061343, + 657.8935354434277, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1064.2839296061343, + 655.2954592320743, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1062.7839296061343, + 652.697383020721, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1061.2839296061343, + 650.0993068093676, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1059.7839296061343, + 647.5012305980142, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1058.2839296061343, + 644.9031543866608, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1056.7839296061343, + 642.3050781753075, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1055.2839296061343, + 639.7070019639541, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1053.7839296061343, + 637.1089257526007, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1052.2839296061343, + 634.5108495412474, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1050.7839296061343, + 631.912773329894, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1049.2839296061343, + 629.3146971185406, + 32.8228972825669 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1049.2839296061343, + 629.3146971185406, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1049.2839296061343, + 626.3146971185406, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1049.2839296061343, + 623.3146971185406, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1049.2839296061343, + 620.3146971185406, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1049.2839296061343, + 617.3146971185406, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1049.2839296061343, + 614.3146971185406, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1049.2839296061343, + 611.3146971185406, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1049.2839296061343, + 608.3146971185406, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1049.2839296061343, + 605.3146971185406, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1049.2839296061343, + 602.3146971185406, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1049.2839296061343, + 599.3146971185406, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1049.2839296061343, + 596.3146971185406, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1049.2839296061343, + 593.3146971185406, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1049.2839296061343, + 590.3146971185406, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1049.2839296061343, + 587.3146971185406, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1049.2839296061343, + 584.3146971185406, + 32.8228972825669 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1049.2839296061343, + 581.3146971185406, + 32.8228972825669 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1040.0, + 556.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-51-33_318561886/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-51-33_318561886/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b3c5c883ebaa7cec01805fbb2845a86c120b9f3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_0-51-33_318561886/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -359.8723916266611, + 266.9624257910415, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -359.8723916266611, + 263.9624257910415, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -359.8723916266611, + 260.9624257910415, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -359.8723916266611, + 257.9624257910415, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -359.8723916266611, + 254.96242579104148, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -359.8723916266611, + 251.96242579104148, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -359.8723916266611, + 248.96242579104148, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -359.8723916266611, + 245.96242579104148, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -359.8723916266611, + 242.96242579104148, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -359.8723916266611, + 239.96242579104148, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -359.8723916266611, + 236.96242579104148, + 38.320800074530226 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -359.8723916266611, + 236.96242579104148, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -358.3723916266611, + 234.36434957968817, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -356.8723916266611, + 231.76627336833485, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -355.3723916266611, + 229.16819715698153, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -353.8723916266611, + 226.57012094562822, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -352.3723916266611, + 223.9720447342749, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -350.8723916266611, + 221.3739685229216, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -349.3723916266611, + 218.77589231156827, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -347.8723916266611, + 216.17781610021495, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -346.3723916266611, + 213.57973988886164, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -344.8723916266611, + 210.98166367750832, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -343.3723916266611, + 208.383587466155, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -341.8723916266611, + 205.7855112548017, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -340.3723916266611, + 203.18743504344837, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -338.8723916266611, + 200.58935883209506, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -337.3723916266611, + 197.99128262074174, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -335.8723916266611, + 195.39320640938843, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -334.3723916266611, + 192.7951301980351, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -332.8723916266611, + 190.1970539866818, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -331.3723916266611, + 187.59897777532848, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -329.8723916266611, + 185.00090156397516, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -328.3723916266611, + 182.40282535262185, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -326.8723916266611, + 179.80474914126853, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -325.3723916266611, + 177.20667292991521, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -323.8723916266611, + 174.6085967185619, + 38.320800074530226 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -323.8723916266611, + 174.6085967185619, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -323.8723916266611, + 171.6085967185619, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -323.8723916266611, + 168.6085967185619, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -323.8723916266611, + 165.6085967185619, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -323.8723916266611, + 162.6085967185619, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -323.8723916266611, + 159.6085967185619, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -323.8723916266611, + 156.6085967185619, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -323.8723916266611, + 153.6085967185619, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -323.8723916266611, + 150.6085967185619, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -323.8723916266611, + 147.6085967185619, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -323.8723916266611, + 144.6085967185619, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -323.8723916266611, + 141.6085967185619, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -323.8723916266611, + 138.6085967185619, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -323.8723916266611, + 135.6085967185619, + 38.320800074530226 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -323.8723916266611, + 132.6085967185619, + 38.320800074530226 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -320.0, + 116.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-22-39_983631233/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-22-39_983631233/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a867bcc96a1aecbf4036818bc1c88f2ef538e53 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-22-39_983631233/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 779.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 782.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 785.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 788.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 791.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 794.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 797.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 800.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 803.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 806.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 809.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 812.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 815.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 818.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 821.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 824.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 827.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 830.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 833.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 836.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 839.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 842.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 845.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 848.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 851.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 854.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 857.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 860.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 863.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 866.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 869.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 872.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 875.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 878.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 881.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 884.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 887.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 890.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 893.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 896.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 896.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 896.9725065163932, + 638.6151009305024, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 898.4725065163932, + 636.017024719149, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 899.9725065163932, + 633.4189485077957, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 901.4725065163932, + 630.8208722964423, + 34.336827603543526 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 901.4725065163932, + 630.8208722964423, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 904.0705827277466, + 629.3208722964423, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 906.6686589390999, + 627.8208722964423, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 909.2667351504533, + 626.3208722964423, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 911.8648113618067, + 624.8208722964423, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 914.4628875731601, + 623.3208722964423, + 34.336827603543526 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 917.0609637845134, + 621.8208722964423, + 34.336827603543526 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 940.0, + 620.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-24-53_1635550270/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-24-53_1635550270/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a053c0b039f42d97ebfc417ec4f89c13c3f1aad --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-24-53_1635550270/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -326.39997718727335, + 911.9534726758733, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -327.89997718727335, + 909.35539646452, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -329.39997718727335, + 906.7573202531667, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -330.89997718727335, + 904.1592440418133, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -332.39997718727335, + 901.5611678304599, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -333.89997718727335, + 898.9630916191065, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -335.39997718727335, + 896.3650154077532, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -336.89997718727335, + 893.7669391963998, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -338.39997718727335, + 891.1688629850464, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -339.89997718727335, + 888.570786773693, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -341.39997718727335, + 885.9727105623397, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -342.89997718727335, + 883.3746343509863, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -344.39997718727335, + 880.7765581396329, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -345.89997718727335, + 878.1784819282796, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -347.39997718727335, + 875.5804057169262, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -348.89997718727335, + 872.9823295055728, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -350.39997718727335, + 870.3842532942194, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -351.89997718727335, + 867.7861770828661, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -353.39997718727335, + 865.1881008715127, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -354.89997718727335, + 862.5900246601593, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -356.39997718727335, + 859.9919484488059, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -357.89997718727335, + 857.3938722374526, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -359.39997718727335, + 854.7957960260992, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -360.89997718727335, + 852.1977198147458, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -362.39997718727335, + 849.5996436033925, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -363.89997718727335, + 847.0015673920391, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -365.39997718727335, + 844.4034911806857, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -366.89997718727335, + 841.8054149693323, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -368.39997718727335, + 839.207338757979, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -369.89997718727335, + 836.6092625466256, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -371.39997718727335, + 834.0111863352722, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -372.89997718727335, + 831.4131101239188, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -374.39997718727335, + 828.8150339125655, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -375.89997718727335, + 826.2169577012121, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -377.39997718727335, + 823.6188814898587, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -378.89997718727335, + 821.0208052785053, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -380.39997718727335, + 818.422729067152, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -381.89997718727335, + 815.8246528557986, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -383.39997718727335, + 813.2265766444452, + 34.33357317589602 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -383.39997718727335, + 813.2265766444452, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -383.39997718727335, + 810.2265766444452, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -383.39997718727335, + 807.2265766444452, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -383.39997718727335, + 804.2265766444452, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -383.39997718727335, + 801.2265766444452, + 34.33357317589602 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -383.39997718727335, + 798.2265766444452, + 34.33357317589602 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -400.0, + 768.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-30-53_1404196431/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-30-53_1404196431/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de785c430287f8a94b711484a051a23ca44d02f6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-30-53_1404196431/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1288.0810926815313, + 450.40393859586675, + 39.298923810951166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1290.6791688928847, + 448.90393859586675, + 39.298923810951166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1293.277245104238, + 447.40393859586675, + 39.298923810951166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1295.8753213155915, + 445.90393859586675, + 39.298923810951166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1298.4733975269448, + 444.40393859586675, + 39.298923810951166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1301.0714737382982, + 442.90393859586675, + 39.298923810951166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1303.6695499496516, + 441.40393859586675, + 39.298923810951166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1306.267626161005, + 439.90393859586675, + 39.298923810951166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1308.8657023723583, + 438.40393859586675, + 39.298923810951166 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1311.4637785837117, + 436.90393859586675, + 39.298923810951166 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1311.4637785837117, + 436.90393859586675, + 39.298923810951166 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1314.4637785837117, + 436.90393859586675, + 39.298923810951166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1317.4637785837117, + 436.90393859586675, + 39.298923810951166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1320.4637785837117, + 436.90393859586675, + 39.298923810951166 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1432.0, + 396.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-7-9_126107205/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-7-9_126107205/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..31827f49b08ff72a51b25f1798ce398694911a7b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_1-7-9_126107205/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1365.6479980202805, + -1203.0733444979032, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1364.1479980202805, + -1200.4752682865499, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1362.6479980202805, + -1197.8771920751965, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1361.1479980202805, + -1195.2791158638431, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1359.6479980202805, + -1192.6810396524897, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1358.1479980202805, + -1190.0829634411364, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1356.6479980202805, + -1187.484887229783, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1355.1479980202805, + -1184.8868110184296, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1353.6479980202805, + -1182.2887348070763, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1352.1479980202805, + -1179.6906585957229, + 33.579941651411275 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1352.1479980202805, + -1179.6906585957229, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1349.5499218089271, + -1178.1906585957229, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1346.9518455975738, + -1176.6906585957229, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1344.3537693862204, + -1175.1906585957229, + 33.579941651411275 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1344.3537693862204, + -1175.1906585957229, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1342.8537693862204, + -1172.5925823843695, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1341.3537693862204, + -1169.9945061730161, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1339.8537693862204, + -1167.3964299616628, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1338.3537693862204, + -1164.7983537503094, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1336.8537693862204, + -1162.200277538956, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1335.3537693862204, + -1159.6022013276026, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1333.8537693862204, + -1157.0041251162493, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1332.3537693862204, + -1154.406048904896, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1330.8537693862204, + -1151.8079726935425, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1329.3537693862204, + -1149.2098964821892, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1327.8537693862204, + -1146.6118202708358, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1326.3537693862204, + -1144.0137440594824, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1324.8537693862204, + -1141.415667848129, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1323.3537693862204, + -1138.8175916367757, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1321.8537693862204, + -1136.2195154254223, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1320.3537693862204, + -1133.621439214069, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1318.8537693862204, + -1131.0233630027155, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1317.3537693862204, + -1128.4252867913622, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1315.8537693862204, + -1125.8272105800088, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1314.3537693862204, + -1123.2291343686554, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1312.8537693862204, + -1120.631058157302, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1311.3537693862204, + -1118.0329819459487, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1309.8537693862204, + -1115.4349057345953, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1308.3537693862204, + -1112.836829523242, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1306.8537693862204, + -1110.2387533118886, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1305.3537693862204, + -1107.6406771005352, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1303.8537693862204, + -1105.0426008891818, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1302.3537693862204, + -1102.4445246778284, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1300.8537693862204, + -1099.846448466475, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1299.3537693862204, + -1097.2483722551217, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1297.8537693862204, + -1094.6502960437683, + 33.579941651411275 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1297.8537693862204, + -1094.6502960437683, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1297.8537693862204, + -1091.6502960437683, + 33.579941651411275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1297.8537693862204, + -1088.6502960437683, + 33.579941651411275 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1284.0, + -1064.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-24-24_1498387409/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-24-24_1498387409/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..424178c6a076128ccd7454adeb8c1d811d42c9ab --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-24-24_1498387409/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -323.41045151977653, + 1530.1104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -326.00852773112985, + 1531.6104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -328.60660394248316, + 1533.1104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -331.2046801538365, + 1534.6104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -333.8027563651898, + 1536.1104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -336.4008325765431, + 1537.6104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -338.9989087878964, + 1539.1104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -341.59698499924974, + 1540.6104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -344.19506121060306, + 1542.1104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -346.7931374219564, + 1543.6104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -349.3912136333097, + 1545.1104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -351.989289844663, + 1546.6104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -354.5873660560163, + 1548.1104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -357.18544226736964, + 1549.6104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -359.78351847872295, + 1551.1104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -362.38159469007627, + 1552.6104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -364.9796709014296, + 1554.1104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -367.5777471127829, + 1555.6104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -370.1758233241362, + 1557.1104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -372.77389953548953, + 1558.6104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -375.37197574684285, + 1560.1104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -377.97005195819617, + 1561.6104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -380.5681281695495, + 1563.1104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -383.1662043809028, + 1564.6104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -385.7642805922561, + 1566.1104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -388.36235680360943, + 1567.6104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -390.96043301496275, + 1569.1104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -393.55850922631606, + 1570.6104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -396.1565854376694, + 1572.1104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -398.7546616490227, + 1573.6104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -401.352737860376, + 1575.1104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -403.9508140717293, + 1576.6104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -406.54889028308264, + 1578.1104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -409.14696649443596, + 1579.6104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -411.7450427057893, + 1581.1104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -414.3431189171426, + 1582.6104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -416.9411951284959, + 1584.1104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -419.5392713398492, + 1585.6104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -422.13734755120254, + 1587.1104630606362, + 36.84484621971419 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -422.13734755120254, + 1587.1104630606362, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -423.63734755120254, + 1589.7085392719896, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -425.13734755120254, + 1592.306615483343, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -426.63734755120254, + 1594.9046916946963, + 36.84484621971419 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -428.13734755120254, + 1597.5027679060497, + 36.84484621971419 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -456.0, + 1620.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-41-55_1933084303/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-41-55_1933084303/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..abd52f91496cdc1363ede96a341ef7eead601cf9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-41-55_1933084303/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 473.41374339012407, + 424.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 476.41374339012407, + 424.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 479.41374339012407, + 424.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 482.41374339012407, + 424.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 485.41374339012407, + 424.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 488.41374339012407, + 424.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 491.41374339012407, + 424.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 494.41374339012407, + 424.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 497.41374339012407, + 424.78320338992756, + 38.73743938883703 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 497.41374339012407, + 424.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 500.0118196014774, + 426.28320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 502.6098958128307, + 427.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 505.207972024184, + 429.28320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 507.80604823553733, + 430.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 510.40412444689065, + 432.28320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 513.002200658244, + 433.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 515.6002768695973, + 435.28320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 518.1983530809507, + 436.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 520.7964292923041, + 438.28320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 523.3945055036575, + 439.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 525.9925817150108, + 441.28320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 528.5906579263642, + 442.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 531.1887341377176, + 444.28320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 533.786810349071, + 445.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 536.3848865604243, + 447.28320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 538.9829627717777, + 448.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 541.5810389831311, + 450.28320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 544.1791151944844, + 451.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 546.7771914058378, + 453.28320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 549.3752676171912, + 454.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 551.9733438285446, + 456.28320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 554.5714200398979, + 457.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 557.1694962512513, + 459.28320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 559.7675724626047, + 460.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 562.365648673958, + 462.28320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 564.9637248853114, + 463.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 567.5618010966648, + 465.28320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 570.1598773080182, + 466.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 572.7579535193715, + 468.28320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 575.3560297307249, + 469.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 577.9541059420783, + 471.28320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 580.5521821534317, + 472.78320338992756, + 38.73743938883703 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 580.5521821534317, + 472.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 583.5521821534317, + 472.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 586.5521821534317, + 472.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 589.5521821534317, + 472.78320338992756, + 38.73743938883703 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 592.5521821534317, + 472.78320338992756, + 38.73743938883703 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 620.0, + 484.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-45-38_1143849810/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-45-38_1143849810/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f59bacf943e3a26bb831592f9863607a303af8d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-45-38_1143849810/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 552.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 555.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 558.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 561.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 564.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 567.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 570.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 573.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 576.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 579.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 582.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 585.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 588.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 591.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 594.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 597.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 600.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 603.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 606.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 609.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 612.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 615.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 618.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 621.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 624.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 627.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 630.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 633.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 636.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 639.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 642.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 645.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 648.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 651.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 654.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 654.1073328010176, + 218.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 656.7054090123709, + 220.34543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 659.3034852237242, + 221.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 661.9015614350776, + 223.34543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 664.499637646431, + 224.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 667.0977138577844, + 226.34543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 669.6957900691377, + 227.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 672.2938662804911, + 229.34543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 674.8919424918445, + 230.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 677.4900187031978, + 232.34543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 680.0880949145512, + 233.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 682.6861711259046, + 235.34543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 685.284247337258, + 236.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 687.8823235486113, + 238.34543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 690.4803997599647, + 239.84543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 693.0784759713181, + 241.34543932823692, + 32.446757145912656 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 695.6765521826715, + 242.84543932823692, + 32.446757145912656 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 728.0, + 252.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-6-25_777635325/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-6-25_777635325/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b55a0a85647fbc6b01be1df4c5832f283628d0d0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_10-6-25_777635325/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -185.94992233320815, + 518.8472191824029, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -184.44992233320815, + 516.2491429710497, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -182.94992233320815, + 513.6510667596963, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -181.44992233320815, + 511.05299054834296, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -179.94992233320815, + 508.45491433698965, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -178.44992233320815, + 505.85683812563633, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -176.94992233320815, + 503.258761914283, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -175.44992233320815, + 500.6606857029297, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -173.94992233320815, + 498.0626094915764, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -172.44992233320815, + 495.46453328022307, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -170.94992233320815, + 492.86645706886975, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -169.44992233320815, + 490.26838085751643, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -167.94992233320815, + 487.6703046461631, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -166.44992233320815, + 485.0722284348098, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -164.94992233320815, + 482.4741522234565, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -163.44992233320815, + 479.87607601210317, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -161.94992233320815, + 477.27799980074985, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -160.44992233320815, + 474.67992358939654, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -158.94992233320815, + 472.0818473780432, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -157.44992233320815, + 469.4837711666899, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -155.94992233320815, + 466.8856949553366, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -154.44992233320815, + 464.2876187439833, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -152.94992233320815, + 461.68954253262996, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -151.44992233320815, + 459.09146632127664, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -149.94992233320815, + 456.4933901099233, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -148.44992233320815, + 453.89531389857, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -146.94992233320815, + 451.2972376872167, + 36.84132669168194 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -146.94992233320815, + 451.2972376872167, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -146.94992233320815, + 448.2972376872167, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -146.94992233320815, + 445.2972376872167, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -146.94992233320815, + 442.2972376872167, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -146.94992233320815, + 439.2972376872167, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -146.94992233320815, + 436.2972376872167, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -146.94992233320815, + 433.2972376872167, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -146.94992233320815, + 430.2972376872167, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -146.94992233320815, + 427.2972376872167, + 36.84132669168194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -146.94992233320815, + 424.2972376872167, + 36.84132669168194 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -120.0, + 356.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_11-18-20_1010014811/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_11-18-20_1010014811/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9da81d74d49f71de2a571b70de69707ef591777b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_11-18-20_1010014811/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 644.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 647.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 650.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 653.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 656.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 659.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 662.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 665.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 668.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 671.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 674.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 677.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 680.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 683.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 686.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 689.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 692.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 695.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 698.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 701.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 704.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 707.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 710.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 713.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 716.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 719.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 722.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 725.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 728.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 731.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 734.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 737.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 740.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 743.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 746.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 749.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 752.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 755.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 758.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 761.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 764.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 767.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 770.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 773.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 776.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 779.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 782.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 782.8018734003541, + -1534.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 785.3999496117074, + -1533.3838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 787.9980258230607, + -1531.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 790.5961020344141, + -1530.3838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 793.1941782457675, + -1528.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 795.7922544571209, + -1527.3838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 798.3903306684742, + -1525.8838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 800.9884068798276, + -1524.3838429193877, + 39.85510847024369 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 803.586483091181, + -1522.8838429193877, + 39.85510847024369 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 816.0, + -1520.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_11-28-20_217852623/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_11-28-20_217852623/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b2cd8da10006e934bc4e04951e3c0502a39a077 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_11-28-20_217852623/pose.jsonl @@ -0,0 +1,899 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -821.35442114281, + -1324.7160861561447, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -822.85442114281, + -1327.314162367498, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -824.35442114281, + -1329.9122385788514, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -825.85442114281, + -1332.5103147902048, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -827.35442114281, + -1335.1083910015582, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -828.85442114281, + -1337.7064672129115, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -830.35442114281, + -1340.304543424265, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -831.85442114281, + -1342.9026196356183, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -833.35442114281, + -1345.5006958469717, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -834.85442114281, + -1348.098772058325, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -836.35442114281, + -1350.6968482696784, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -837.85442114281, + -1353.2949244810318, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -839.35442114281, + -1355.8930006923852, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -840.85442114281, + -1358.4910769037385, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -842.35442114281, + -1361.089153115092, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -843.85442114281, + -1363.6872293264453, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -845.35442114281, + -1366.2853055377986, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -846.85442114281, + -1368.883381749152, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -848.35442114281, + -1371.4814579605054, + 32.18895986126741 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -848.35442114281, + -1371.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -848.35442114281, + -1374.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -848.35442114281, + -1377.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -848.35442114281, + -1380.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -848.35442114281, + -1383.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -848.35442114281, + -1386.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -848.35442114281, + -1389.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -848.35442114281, + -1392.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -848.35442114281, + -1395.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -848.35442114281, + -1398.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -848.35442114281, + -1401.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -848.35442114281, + -1404.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -848.35442114281, + -1407.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -848.35442114281, + -1410.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -848.35442114281, + -1413.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -848.35442114281, + -1416.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -848.35442114281, + -1419.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -848.35442114281, + -1422.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -848.35442114281, + -1425.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -848.35442114281, + -1428.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -848.35442114281, + -1431.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -848.35442114281, + -1434.4814579605054, + 32.18895986126741 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -848.35442114281, + -1434.4814579605054, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -846.85442114281, + -1437.0795341718588, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -845.35442114281, + -1439.6776103832121, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -843.85442114281, + -1442.2756865945655, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -842.35442114281, + -1444.8737628059189, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -840.85442114281, + -1447.4718390172723, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -839.35442114281, + -1450.0699152286256, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -837.85442114281, + -1452.667991439979, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -836.35442114281, + -1455.2660676513324, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -834.85442114281, + -1457.8641438626858, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -833.35442114281, + -1460.4622200740391, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -831.85442114281, + -1463.0602962853925, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -830.35442114281, + -1465.6583724967459, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -828.85442114281, + -1468.2564487080992, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -827.35442114281, + -1470.8545249194526, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -825.85442114281, + -1473.452601130806, + 32.18895986126741 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -825.85442114281, + -1473.452601130806, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -823.2563449314566, + -1474.952601130806, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -820.6582687201033, + -1476.452601130806, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -818.0601925087499, + -1477.952601130806, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -815.4621162973965, + -1479.452601130806, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -812.8640400860431, + -1480.952601130806, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -810.2659638746898, + -1482.452601130806, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -807.6678876633364, + -1483.952601130806, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -805.069811451983, + -1485.452601130806, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -802.4717352406296, + -1486.952601130806, + 32.18895986126741 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + -799.8736590292763, + -1488.452601130806, + 32.18895986126741 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -796.0, + -1500.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_11-49-39_936621968/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_11-49-39_936621968/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2bfb3b4aed95e51125f6bdb56afc7e59721f4898 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_11-49-39_936621968/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -827.5665237722596, + -927.9540108671963, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -829.0665237722596, + -930.5520870785497, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -830.5665237722596, + -933.150163289903, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -832.0665237722596, + -935.7482395012564, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -833.5665237722596, + -938.3463157126098, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -835.0665237722596, + -940.9443919239632, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -836.5665237722596, + -943.5424681353165, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -838.0665237722596, + -946.1405443466699, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -839.5665237722596, + -948.7386205580233, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -841.0665237722596, + -951.3366967693767, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -842.5665237722596, + -953.93477298073, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -844.0665237722596, + -956.5328491920834, + 30.082611134208683 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -844.0665237722596, + -956.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -844.0665237722596, + -959.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -844.0665237722596, + -962.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -844.0665237722596, + -965.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -844.0665237722596, + -968.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -844.0665237722596, + -971.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -844.0665237722596, + -974.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -844.0665237722596, + -977.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -844.0665237722596, + -980.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -844.0665237722596, + -983.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -844.0665237722596, + -986.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -844.0665237722596, + -989.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -844.0665237722596, + -992.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -844.0665237722596, + -995.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -844.0665237722596, + -998.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -844.0665237722596, + -1001.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -844.0665237722596, + -1004.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -844.0665237722596, + -1007.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -844.0665237722596, + -1010.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -844.0665237722596, + -1013.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -844.0665237722596, + -1016.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -844.0665237722596, + -1019.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -844.0665237722596, + -1022.5328491920834, + 30.082611134208683 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -844.0665237722596, + -1022.5328491920834, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -845.5665237722596, + -1025.1309254034368, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -847.0665237722596, + -1027.7290016147901, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -848.5665237722596, + -1030.3270778261435, + 30.082611134208683 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -848.5665237722596, + -1030.3270778261435, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -851.164599983613, + -1031.8270778261435, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -853.7626761949664, + -1033.3270778261435, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -856.3607524063198, + -1034.8270778261435, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -858.9588286176731, + -1036.3270778261435, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -861.5569048290265, + -1037.8270778261435, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -864.1549810403799, + -1039.3270778261435, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -866.7530572517333, + -1040.8270778261435, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -869.3511334630866, + -1042.3270778261435, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -871.94920967444, + -1043.8270778261435, + 30.082611134208683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -874.5472858857934, + -1045.3270778261435, + 30.082611134208683 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -888.0, + -1076.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-27-38_860144854/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-27-38_860144854/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..109957e704d5103bff2b9ff587c85c214636dd25 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-27-38_860144854/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1420.6186055232538, + 1203.9634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1423.6186055232538, + 1203.9634861685226, + 34.984528849704716 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1423.6186055232538, + 1203.9634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1426.2166817346072, + 1205.4634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1428.8147579459605, + 1206.9634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1431.412834157314, + 1208.4634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1434.0109103686673, + 1209.9634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1436.6089865800207, + 1211.4634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1439.207062791374, + 1212.9634861685226, + 34.984528849704716 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1439.207062791374, + 1212.9634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1442.207062791374, + 1212.9634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1445.207062791374, + 1212.9634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1448.207062791374, + 1212.9634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1451.207062791374, + 1212.9634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1454.207062791374, + 1212.9634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1457.207062791374, + 1212.9634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1460.207062791374, + 1212.9634861685226, + 34.984528849704716 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1460.207062791374, + 1212.9634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1462.8051390027274, + 1211.4634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1465.4032152140808, + 1209.9634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1468.0012914254341, + 1208.4634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1470.5993676367875, + 1206.9634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1473.197443848141, + 1205.4634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1475.7955200594943, + 1203.9634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1478.3935962708476, + 1202.4634861685226, + 34.984528849704716 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1480.991672482201, + 1200.9634861685226, + 34.984528849704716 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1592.0, + 1196.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-29-13_366831742/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-29-13_366831742/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c6add4e0d47740f482ab201f9b89bd5d9a84fb57 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-29-13_366831742/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1392.023319613506, + -1571.978805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1394.6213958248593, + -1570.478805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1397.2194720362127, + -1568.978805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1399.817548247566, + -1567.478805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1402.4156244589194, + -1565.978805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1405.0137006702728, + -1564.478805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1407.6117768816262, + -1562.978805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1410.2098530929795, + -1561.478805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1412.807929304333, + -1559.978805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1415.4060055156863, + -1558.478805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1418.0040817270396, + -1556.978805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1420.602157938393, + -1555.478805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1423.2002341497464, + -1553.978805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1425.7983103610998, + -1552.478805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1428.3963865724531, + -1550.978805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1430.9944627838065, + -1549.478805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1433.5925389951599, + -1547.978805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1436.1906152065133, + -1546.478805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1438.7886914178666, + -1544.978805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1441.38676762922, + -1543.478805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1443.9848438405734, + -1541.978805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1446.5829200519267, + -1540.478805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1449.1809962632801, + -1538.978805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1451.7790724746335, + -1537.478805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1454.3771486859869, + -1535.978805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1456.9752248973402, + -1534.478805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1459.5733011086936, + -1532.978805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1462.171377320047, + -1531.478805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1464.7694535314004, + -1529.978805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1467.3675297427537, + -1528.478805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1469.965605954107, + -1526.978805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1472.5636821654605, + -1525.478805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1475.1617583768139, + -1523.978805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1477.7598345881672, + -1522.478805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1480.3579107995206, + -1520.978805318294, + 38.07939614199353 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1480.3579107995206, + -1520.978805318294, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1481.8579107995206, + -1518.3807291069406, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1483.3579107995206, + -1515.7826528955873, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1484.8579107995206, + -1513.184576684234, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1486.3579107995206, + -1510.5865004728805, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1487.8579107995206, + -1507.9884242615271, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1489.3579107995206, + -1505.3903480501738, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1490.8579107995206, + -1502.7922718388204, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1492.3579107995206, + -1500.194195627467, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1493.8579107995206, + -1497.5961194161137, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1495.3579107995206, + -1494.9980432047603, + 38.07939614199353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1496.8579107995206, + -1492.399966993407, + 38.07939614199353 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1512.0, + -1480.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-33-13_1628414422/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-33-13_1628414422/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6458379c880c9b6c5cdbe75af8eb608137647bf0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-33-13_1628414422/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 500.1952096703791, + 909.677136822505, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 497.1952096703791, + 909.677136822505, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 494.1952096703791, + 909.677136822505, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 491.1952096703791, + 909.677136822505, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 488.1952096703791, + 909.677136822505, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 485.1952096703791, + 909.677136822505, + 32.68545187080971 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 485.1952096703791, + 909.677136822505, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 482.59713345902577, + 911.177136822505, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 479.99905724767245, + 912.677136822505, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 477.40098103631914, + 914.177136822505, + 32.68545187080971 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 477.40098103631914, + 914.177136822505, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 475.90098103631914, + 916.7752130338583, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 474.40098103631914, + 919.3732892452117, + 32.68545187080971 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 474.40098103631914, + 919.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 471.8029048249658, + 920.8732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 469.2048286136125, + 922.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 466.6067524022592, + 923.8732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 464.0086761909059, + 925.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 461.41059997955256, + 926.8732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 458.81252376819924, + 928.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 456.2144475568459, + 929.8732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 453.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 453.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 450.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 447.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 444.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 441.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 438.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 435.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 432.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 429.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 426.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 423.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 420.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 417.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 414.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 411.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 408.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 405.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 402.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 399.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 396.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 393.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 390.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 387.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 384.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 381.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 378.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 375.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 372.6163713454926, + 931.3732892452117, + 32.68545187080971 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 332.0, + 936.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-43-1_1855103807/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-43-1_1855103807/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..899674611baf18115bb6bb15879301a04ca2129f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-43-1_1855103807/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -270.93615300343004, + 71.47619240975787, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -272.43615300343004, + 74.07426862111119, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -273.93615300343004, + 76.6723448324645, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -275.43615300343004, + 79.27042104381782, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -276.93615300343004, + 81.86849725517114, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -278.43615300343004, + 84.46657346652445, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -279.93615300343004, + 87.06464967787777, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -281.43615300343004, + 89.66272588923108, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -282.93615300343004, + 92.2608021005844, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -284.43615300343004, + 94.85887831193772, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -285.93615300343004, + 97.45695452329103, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -287.43615300343004, + 100.05503073464435, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -288.93615300343004, + 102.65310694599766, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -290.43615300343004, + 105.25118315735098, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -291.93615300343004, + 107.8492593687043, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -293.43615300343004, + 110.44733558005761, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -294.93615300343004, + 113.04541179141093, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -296.43615300343004, + 115.64348800276424, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -297.93615300343004, + 118.24156421411756, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -299.43615300343004, + 120.83964042547088, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -300.93615300343004, + 123.43771663682419, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -302.43615300343004, + 126.03579284817751, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -303.93615300343004, + 128.6338690595308, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393198 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -305.43615300343004, + 131.23194527088413, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -306.93615300343004, + 133.83002148223744, + 32.31593131501137 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -306.93615300343004, + 133.83002148223744, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -309.53422921478335, + 135.33002148223744, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -312.13230542613667, + 136.83002148223744, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -314.73038163749, + 138.33002148223744, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -317.3284578488433, + 139.83002148223744, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -319.9265340601966, + 141.33002148223744, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -322.52461027154993, + 142.83002148223744, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -325.12268648290325, + 144.33002148223744, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -327.72076269425656, + 145.83002148223744, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -330.3188389056099, + 147.33002148223744, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -332.9169151169632, + 148.83002148223744, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -335.5149913283165, + 150.33002148223744, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -338.1130675396698, + 151.83002148223744, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -340.71114375102314, + 153.33002148223744, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -343.30921996237646, + 154.83002148223744, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -345.9072961737298, + 156.33002148223744, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -348.5053723850831, + 157.83002148223744, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -351.1034485964364, + 159.33002148223744, + 32.31593131501137 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -353.7015248077897, + 160.83002148223744, + 32.31593131501137 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -380.0, + 188.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-48-21_1173059560/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-48-21_1173059560/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06acea078a9096c837505c7fd5089f7a30a1bca4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-48-21_1173059560/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1678.6431828984569, + -704.5153223828538, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1680.1431828984569, + -707.1133985942072, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1681.6431828984569, + -709.7114748055606, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1683.1431828984569, + -712.3095510169139, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1684.6431828984569, + -714.9076272282673, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1686.1431828984569, + -717.5057034396207, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1687.6431828984569, + -720.103779650974, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1689.1431828984569, + -722.7018558623274, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1690.6431828984569, + -725.2999320736808, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1692.1431828984569, + -727.8980082850342, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1693.6431828984569, + -730.4960844963875, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1695.1431828984569, + -733.0941607077409, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1696.6431828984569, + -735.6922369190943, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1698.1431828984569, + -738.2903131304477, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1699.6431828984569, + -740.888389341801, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1701.1431828984569, + -743.4864655531544, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1702.6431828984569, + -746.0845417645078, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1704.1431828984569, + -748.6826179758611, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1705.6431828984569, + -751.2806941872145, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1707.1431828984569, + -753.8787703985679, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1708.6431828984569, + -756.4768466099213, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1710.1431828984569, + -759.0749228212746, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1711.6431828984569, + -761.672999032628, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1713.1431828984569, + -764.2710752439814, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1714.6431828984569, + -766.8691514553348, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1716.1431828984569, + -769.4672276666881, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1717.6431828984569, + -772.0653038780415, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1719.1431828984569, + -774.6633800893949, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1720.6431828984569, + -777.2614563007483, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1722.1431828984569, + -779.8595325121016, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1723.6431828984569, + -782.457608723455, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1725.1431828984569, + -785.0556849348084, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1726.6431828984569, + -787.6537611461617, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1728.1431828984569, + -790.2518373575151, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1729.6431828984569, + -792.8499135688685, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1731.1431828984569, + -795.4479897802219, + 32.71956663455538 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1731.1431828984569, + -795.4479897802219, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1733.7412591098102, + -796.9479897802219, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1736.3393353211636, + -798.4479897802219, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1738.937411532517, + -799.9479897802219, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1741.5354877438704, + -801.4479897802219, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1744.1335639552237, + -802.9479897802219, + 32.71956663455538 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1746.731640166577, + -804.4479897802219, + 32.71956663455538 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1764.0, + -832.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-51-31_964263748/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-51-31_964263748/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..64e81b4e1ccc8f4aa7994fe9fccdb06fc2676712 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_12-51-31_964263748/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1654.975435657913, + 72.6226212761467, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1651.975435657913, + 72.6226212761467, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1648.975435657913, + 72.6226212761467, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1645.975435657913, + 72.6226212761467, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1642.975435657913, + 72.6226212761467, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1639.975435657913, + 72.6226212761467, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1636.975435657913, + 72.6226212761467, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1633.975435657913, + 72.6226212761467, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1630.975435657913, + 72.6226212761467, + 32.89648885096234 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1630.975435657913, + 72.6226212761467, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1628.3773594465597, + 74.1226212761467, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1625.7792832352063, + 75.6226212761467, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1623.181207023853, + 77.1226212761467, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1620.5831308124996, + 78.6226212761467, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1617.9850546011462, + 80.1226212761467, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1615.3869783897928, + 81.6226212761467, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1612.7889021784395, + 83.1226212761467, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1610.190825967086, + 84.6226212761467, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1607.5927497557327, + 86.1226212761467, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1604.9946735443793, + 87.6226212761467, + 32.89648885096234 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1604.9946735443793, + 87.6226212761467, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1603.4946735443793, + 90.22069748750002, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1601.9946735443793, + 92.81877369885333, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1600.4946735443793, + 95.41684991020665, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1598.9946735443793, + 98.01492612155997, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1597.4946735443793, + 100.61300233291328, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1595.9946735443793, + 103.2110785442666, + 32.89648885096234 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1594.4946735443793, + 105.80915475561991, + 32.89648885096234 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1504.0, + 156.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-20-59_251836754/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-20-59_251836754/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..345079167a328a00e67ad3cbbd30a10cc00a9994 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-20-59_251836754/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -957.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -960.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -963.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -966.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -969.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -972.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -975.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -978.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -981.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -984.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -987.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -990.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -993.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -996.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -999.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1002.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1005.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1008.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1011.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1014.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1017.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1020.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1023.1415747026045, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1026.1415747026044, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1029.1415747026044, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1032.1415747026044, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1035.1415747026044, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1038.1415747026044, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1041.1415747026044, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1044.1415747026044, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1047.1415747026044, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1050.1415747026044, + -221.8775241127922, + 33.17814046445486 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1050.1415747026044, + -221.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1052.7396509139578, + -220.3775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1055.3377271253112, + -218.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1057.9358033366645, + -217.3775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1060.533879548018, + -215.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1063.1319557593713, + -214.3775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1065.7300319707247, + -212.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1068.328108182078, + -211.3775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1070.9261843934314, + -209.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1073.5242606047848, + -208.3775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1076.1223368161382, + -206.8775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1078.7204130274915, + -205.3775241127922, + 33.17814046445486 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1081.318489238845, + -203.8775241127922, + 33.17814046445486 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1112.0, + -200.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-23-25_333480550/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-23-25_333480550/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..229c27d81a69d777681ff360aafc6f691ddc665b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-23-25_333480550/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1266.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1263.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1260.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1257.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1254.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1251.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1248.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1245.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1242.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1239.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1236.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1233.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1230.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1227.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1224.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1221.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1218.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1215.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1212.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1209.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1206.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1203.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1200.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1197.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1194.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1191.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1188.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1185.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1182.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1179.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1176.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1173.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1170.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1167.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1164.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1161.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1158.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1155.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1152.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1149.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1146.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1143.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1140.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1137.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1134.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1131.6983055252842, + -201.4052503133572, + 33.41241358172379 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1112.0, + -200.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-47-22_955798986/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-47-22_955798986/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..724724a44d6a670a68436b5d8798cc366743d092 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_13-47-22_955798986/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1318.1380246571575, + -994.818751312883, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1319.6380246571575, + -992.2206751015297, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1321.1380246571575, + -989.6225988901763, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1322.6380246571575, + -987.0245226788229, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1324.1380246571575, + -984.4264464674695, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1325.6380246571575, + -981.8283702561162, + 31.493292500321708 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1325.6380246571575, + -981.8283702561162, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1328.236100868511, + -980.3283702561162, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1330.8341770798643, + -978.8283702561162, + 31.493292500321708 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1330.8341770798643, + -978.8283702561162, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1332.3341770798643, + -976.2302940447628, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1333.8341770798643, + -973.6322178334094, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1335.3341770798643, + -971.034141622056, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1336.8341770798643, + -968.4360654107027, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1338.3341770798643, + -965.8379891993493, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1339.8341770798643, + -963.2399129879959, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1341.3341770798643, + -960.6418367766425, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1342.8341770798643, + -958.0437605652892, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1344.3341770798643, + -955.4456843539358, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1345.8341770798643, + -952.8476081425824, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1347.3341770798643, + -950.2495319312291, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1348.8341770798643, + -947.6514557198757, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1350.3341770798643, + -945.0533795085223, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1351.8341770798643, + -942.4553032971689, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1353.3341770798643, + -939.8572270858156, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1354.8341770798643, + -937.2591508744622, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1356.3341770798643, + -934.6610746631088, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1357.8341770798643, + -932.0629984517554, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1359.3341770798643, + -929.4649222404021, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1360.8341770798643, + -926.8668460290487, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1362.3341770798643, + -924.2687698176953, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1363.8341770798643, + -921.670693606342, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1365.3341770798643, + -919.0726173949886, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1366.8341770798643, + -916.4745411836352, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1368.3341770798643, + -913.8764649722818, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1369.8341770798643, + -911.2783887609285, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1371.3341770798643, + -908.6803125495751, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1372.8341770798643, + -906.0822363382217, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1374.3341770798643, + -903.4841601268683, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1375.8341770798643, + -900.886083915515, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1377.3341770798643, + -898.2880077041616, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1378.8341770798643, + -895.6899314928082, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1380.3341770798643, + -893.0918552814549, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1381.8341770798643, + -890.4937790701015, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1383.3341770798643, + -887.8957028587481, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1384.8341770798643, + -885.2976266473947, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1386.3341770798643, + -882.6995504360414, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1387.8341770798643, + -880.101474224688, + 31.493292500321708 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1387.8341770798643, + -880.101474224688, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1390.4322532912176, + -878.601474224688, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1393.030329502571, + -877.101474224688, + 31.493292500321708 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1395.6284057139244, + -875.601474224688, + 31.493292500321708 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1412.0, + -848.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_14-36-16_427778693/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_14-36-16_427778693/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..924abb04b99c44f65635d5940751ff65ab3e096c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_14-36-16_427778693/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1248.8244728749523, + 175.94801799087173, + 37.14270596368437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1251.4225490863057, + 174.44801799087173, + 37.14270596368437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1254.020625297659, + 172.94801799087173, + 37.14270596368437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1256.6187015090125, + 171.44801799087173, + 37.14270596368437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1259.2167777203658, + 169.94801799087173, + 37.14270596368437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1261.8148539317192, + 168.44801799087173, + 37.14270596368437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1264.4129301430726, + 166.94801799087173, + 37.14270596368437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1267.011006354426, + 165.44801799087173, + 37.14270596368437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1269.6090825657793, + 163.94801799087173, + 37.14270596368437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1272.2071587771327, + 162.44801799087173, + 37.14270596368437 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1272.2071587771327, + 162.44801799087173, + 37.14270596368437 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1275.2071587771327, + 162.44801799087173, + 37.14270596368437 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1278.2071587771327, + 162.44801799087173, + 37.14270596368437 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1400.0, + 100.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_14-44-49_1470593630/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_14-44-49_1470593630/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b9cd29cf838ca03d9705c9a540079b0188e9fd24 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_14-44-49_1470593630/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1210.5113397386283, + -872.5946460091517, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1209.0113397386283, + -869.9965697977984, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1207.5113397386283, + -867.398493586445, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1206.0113397386283, + -864.8004173750917, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1204.5113397386283, + -862.2023411637383, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1203.0113397386283, + -859.6042649523849, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1201.5113397386283, + -857.0061887410316, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1200.0113397386283, + -854.4081125296782, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1198.5113397386283, + -851.8100363183248, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1197.0113397386283, + -849.2119601069714, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1195.5113397386283, + -846.6138838956181, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1194.0113397386283, + -844.0158076842647, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1192.5113397386283, + -841.4177314729113, + 32.47988840951983 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1192.5113397386283, + -841.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1192.5113397386283, + -838.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1192.5113397386283, + -835.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1192.5113397386283, + -832.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1192.5113397386283, + -829.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1192.5113397386283, + -826.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1192.5113397386283, + -823.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1192.5113397386283, + -820.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1192.5113397386283, + -817.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1192.5113397386283, + -814.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1192.5113397386283, + -811.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1192.5113397386283, + -808.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1192.5113397386283, + -805.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1192.5113397386283, + -802.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1192.5113397386283, + -799.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1192.5113397386283, + -796.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1192.5113397386283, + -793.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1192.5113397386283, + -790.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1192.5113397386283, + -787.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1192.5113397386283, + -784.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1192.5113397386283, + -781.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1192.5113397386283, + -778.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1192.5113397386283, + -775.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1192.5113397386283, + -772.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1192.5113397386283, + -769.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1192.5113397386283, + -766.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1192.5113397386283, + -763.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1192.5113397386283, + -760.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1192.5113397386283, + -757.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1192.5113397386283, + -754.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1192.5113397386283, + -751.4177314729113, + 32.47988840951983 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1192.5113397386283, + -748.4177314729113, + 32.47988840951983 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1184.0, + -704.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_14-57-46_1598048401/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_14-57-46_1598048401/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..549ab84052a496891bbcb7dfb65094493cd47d54 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_14-57-46_1598048401/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -456.5405920922556, + 1660.8755398312755, + 37.68992097632545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -459.13866830360894, + 1662.3755398312755, + 37.68992097632545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -461.73674451496225, + 1663.8755398312755, + 37.68992097632545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -464.33482072631557, + 1665.3755398312755, + 37.68992097632545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -466.9328969376689, + 1666.8755398312755, + 37.68992097632545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -469.5309731490222, + 1668.3755398312755, + 37.68992097632545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -472.1290493603755, + 1669.8755398312755, + 37.68992097632545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -474.72712557172883, + 1671.3755398312755, + 37.68992097632545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -477.32520178308215, + 1672.8755398312755, + 37.68992097632545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -479.92327799443547, + 1674.3755398312755, + 37.68992097632545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -482.5213542057888, + 1675.8755398312755, + 37.68992097632545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -485.1194304171421, + 1677.3755398312755, + 37.68992097632545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -487.7175066284954, + 1678.8755398312755, + 37.68992097632545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -490.31558283984873, + 1680.3755398312755, + 37.68992097632545 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -604.0, + 1744.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_14-7-52_2057337242/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_14-7-52_2057337242/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dcf32845b9093ad6fc7546316f48c9770ace3642 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_14-7-52_2057337242/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1195.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1198.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1201.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1204.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1207.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1210.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1213.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1216.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1219.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1222.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1225.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1228.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1231.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1234.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1237.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1240.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1243.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1246.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1249.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1252.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1255.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1258.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1261.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1264.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1267.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1270.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1273.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1276.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1279.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1282.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1285.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1288.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1291.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1294.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1294.3928488083618, + 1024.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1296.9909250197152, + 1022.7740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1299.5890012310686, + 1021.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1302.187077442422, + 1019.7740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1304.7851536537753, + 1018.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1307.3832298651287, + 1016.7740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1309.981306076482, + 1015.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1312.5793822878354, + 1013.7740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1315.1774584991888, + 1012.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1317.7755347105422, + 1010.7740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1320.3736109218955, + 1009.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1322.971687133249, + 1007.7740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1325.5697633446023, + 1006.2740465867844, + 35.7813925437311 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1328.1678395559557, + 1004.7740465867844, + 35.7813925437311 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1356.0, + 1000.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-17-24_1560307071/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-17-24_1560307071/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c2a2be3683b35ef7a7d2dc8d32df4a191bc42d45 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-17-24_1560307071/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1776.6734361104661, + 328.68455899754974, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1775.1734361104661, + 331.28263520890306, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1773.6734361104661, + 333.8807114202564, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1772.1734361104661, + 336.4787876316097, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1770.6734361104661, + 339.076863842963, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1769.1734361104661, + 341.6749400543163, + 39.337683380846634 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1769.1734361104661, + 341.6749400543163, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1769.1734361104661, + 344.6749400543163, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1769.1734361104661, + 347.6749400543163, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1769.1734361104661, + 350.6749400543163, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1769.1734361104661, + 353.6749400543163, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1769.1734361104661, + 356.6749400543163, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1769.1734361104661, + 359.6749400543163, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1769.1734361104661, + 362.6749400543163, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1769.1734361104661, + 365.6749400543163, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1769.1734361104661, + 368.6749400543163, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1769.1734361104661, + 371.6749400543163, + 39.337683380846634 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1769.1734361104661, + 371.6749400543163, + 39.337683380846634 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1769.1734361104661, + 371.6749400543163, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1766.5753598991128, + 373.1749400543163, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1763.9772836877594, + 374.6749400543163, + 39.337683380846634 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1763.9772836877594, + 374.6749400543163, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1762.4772836877594, + 377.27301626566964, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1760.9772836877594, + 379.87109247702296, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1759.4772836877594, + 382.46916868837627, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1757.9772836877594, + 385.0672448997296, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1756.4772836877594, + 387.6653211110829, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1754.9772836877594, + 390.2633973224362, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1753.4772836877594, + 392.86147353378954, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1751.9772836877594, + 395.45954974514285, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1750.4772836877594, + 398.05762595649617, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1748.9772836877594, + 400.6557021678495, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1747.4772836877594, + 403.2537783792028, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1745.9772836877594, + 405.8518545905561, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1744.4772836877594, + 408.44993080190943, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1742.9772836877594, + 411.04800701326275, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1741.4772836877594, + 413.64608322461606, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1739.9772836877594, + 416.2441594359694, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1738.4772836877594, + 418.8422356473227, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1736.9772836877594, + 421.440311858676, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1735.4772836877594, + 424.0383880700293, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1733.9772836877594, + 426.63646428138264, + 39.337683380846634 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1733.9772836877594, + 426.63646428138264, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1731.379207476406, + 428.13646428138264, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1728.7811312650526, + 429.63646428138264, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1726.1830550536993, + 431.13646428138264, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1723.584978842346, + 432.63646428138264, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1720.9869026309925, + 434.13646428138264, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1718.3888264196391, + 435.63646428138264, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1715.7907502082858, + 437.13646428138264, + 39.337683380846634 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1715.7907502082858, + 437.13646428138264, + 39.337683380846634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1714.2907502082858, + 439.73454049273596, + 39.337683380846634 + ], + "type": "stop", + "value": 0, + "yaw": 1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1704.0, + 460.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-18-31_1063641238/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-18-31_1063641238/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f6538dd58f8428b25ccca93749b8a70c3203beaa --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-18-31_1063641238/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -80.61385133855029, + -541.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -78.01577512719697, + -540.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -75.41769891584366, + -538.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -72.81962270449034, + -537.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -70.22154649313703, + -535.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -67.62347028178371, + -534.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -65.0253940704304, + -532.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -62.42731785907708, + -531.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -59.82924164772376, + -529.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -57.231165436370446, + -528.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -54.63308922501713, + -526.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -52.035013013663814, + -525.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -49.4369368023105, + -523.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -46.83886059095718, + -522.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -44.240784379603866, + -520.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -41.64270816825055, + -519.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -39.044631956897234, + -517.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -36.44655574554392, + -516.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -33.8484795341906, + -514.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -31.250403322837286, + -513.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -28.65232711148397, + -511.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -26.054250900130654, + -510.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -23.456174688777338, + -508.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -20.858098477424022, + -507.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -18.260022266070706, + -505.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -15.66194605471739, + -504.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -13.063869843364074, + -502.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -10.465793632010758, + -501.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -7.867717420657442, + -499.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -5.269641209304126, + -498.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2.67156499795081, + -496.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -0.07348878659749403, + -495.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2.524587424755822, + -493.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 5.122663636109138, + -492.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 7.720739847462454, + -490.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 10.31881605881577, + -489.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 12.916892270169086, + -487.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 15.514968481522402, + -486.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 18.113044692875718, + -484.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 20.711120904229034, + -483.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 23.30919711558235, + -481.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 25.907273326935666, + -480.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 28.505349538288982, + -478.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 31.103425749642298, + -477.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 33.701501960995614, + -475.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 36.29957817234893, + -474.1993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 38.897654383702246, + -472.6993516986314, + 36.37434825168725 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 38.897654383702246, + -472.6993516986314, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 40.397654383702246, + -470.1012754872781, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 41.897654383702246, + -467.50319927592477, + 36.37434825168725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 43.397654383702246, + -464.90512306457146, + 36.37434825168725 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 60.0, + -456.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-34-45_1069774565/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-34-45_1069774565/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb07d7fbe38b1af1e3a6e8fcf18b07416ca57b28 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_15-34-45_1069774565/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 125.41003774600887, + -88.85944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 122.81196153465555, + -90.35944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 120.21388532330224, + -91.85944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 117.61580911194892, + -93.35944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 115.0177329005956, + -94.85944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 112.41965668924229, + -96.35944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 109.82158047788897, + -97.85944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 107.22350426653566, + -99.35944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 104.62542805518234, + -100.85944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 102.02735184382902, + -102.35944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 99.42927563247571, + -103.85944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 96.83119942112239, + -105.35944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 94.23312320976908, + -106.85944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 91.63504699841576, + -108.35944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 89.03697078706244, + -109.85944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 86.43889457570913, + -111.35944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 83.84081836435581, + -112.85944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 81.2427421530025, + -114.35944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 78.64466594164918, + -115.85944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 76.04658973029586, + -117.35944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 73.44851351894255, + -118.85944370331403, + 32.17111122781384 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 73.44851351894255, + -118.85944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 70.44851351894255, + -118.85944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 67.44851351894255, + -118.85944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 64.44851351894255, + -118.85944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 61.44851351894255, + -118.85944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 58.44851351894255, + -118.85944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 55.44851351894255, + -118.85944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 52.44851351894255, + -118.85944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 49.44851351894255, + -118.85944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 46.44851351894255, + -118.85944370331403, + 32.17111122781384 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 46.44851351894255, + -118.85944370331403, + 32.17111122781384 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 46.44851351894255, + -118.85944370331403, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 44.94851351894255, + -121.45751991466734, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 43.44851351894255, + -124.05559612602066, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 41.94851351894255, + -126.65367233737398, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 40.44851351894255, + -129.25174854872728, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393198 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 38.94851351894255, + -131.8498247600806, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 37.44851351894255, + -134.4479009714339, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 35.94851351894255, + -137.04597718278723, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 34.44851351894255, + -139.64405339414054, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 32.94851351894255, + -142.24212960549386, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 31.448513518942548, + -144.84020581684717, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 29.948513518942548, + -147.4382820282005, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 28.448513518942548, + -150.0363582395538, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 26.948513518942548, + -152.63443445090712, + 32.17111122781384 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 26.948513518942548, + -152.63443445090712, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 24.35043730758923, + -154.13443445090712, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 21.752361096235916, + -155.63443445090712, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 19.1542848848826, + -157.13443445090712, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 16.556208673529284, + -158.63443445090712, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 13.958132462175968, + -160.13443445090712, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 11.360056250822652, + -161.63443445090712, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 8.761980039469336, + -163.13443445090712, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 6.16390382811602, + -164.63443445090712, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 3.5658276167627037, + -166.13443445090712, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 0.9677514054093876, + -167.63443445090712, + 32.17111122781384 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 0.9677514054093876, + -167.63443445090712, + 32.17111122781384 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 0.9677514054093876, + -167.63443445090712, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 0.9677514054093879, + -170.63443445090712, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 0.9677514054093881, + -173.63443445090712, + 32.17111122781384 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 0.9677514054093881, + -173.63443445090712, + 32.17111122781384 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 0.9677514054093881, + -173.63443445090712, + 32.17111122781384 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -1.630324805943928, + -175.13443445090712, + 32.17111122781384 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -20.0, + -188.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-25-45_1865033882/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-25-45_1865033882/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1ee3d616c55c4739aa9086547734f3aa9d455d5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_16-25-45_1865033882/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 534.1619892035096, + 244.55847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 537.1619892035096, + 244.55847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 540.1619892035096, + 244.55847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 543.1619892035096, + 244.55847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 546.1619892035096, + 244.55847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 549.1619892035096, + 244.55847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 552.1619892035096, + 244.55847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 555.1619892035096, + 244.55847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 558.1619892035096, + 244.55847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 561.1619892035096, + 244.55847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 564.1619892035096, + 244.55847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 567.1619892035096, + 244.55847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 570.1619892035096, + 244.55847742235335, + 39.012867018345915 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 570.1619892035096, + 244.55847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 572.760065414863, + 246.05847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 575.3581416262164, + 247.55847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 577.9562178375697, + 249.05847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 580.5542940489231, + 250.55847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 583.1523702602765, + 252.05847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 585.7504464716299, + 253.55847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 588.3485226829832, + 255.05847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 590.9465988943366, + 256.55847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 593.54467510569, + 258.05847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 596.1427513170433, + 259.55847742235335, + 39.012867018345915 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 596.1427513170433, + 259.55847742235335, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 597.6427513170433, + 262.15655363370666, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 599.1427513170433, + 264.75462984506, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 600.6427513170433, + 267.3527060564133, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 602.1427513170433, + 269.9507822677666, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 603.6427513170433, + 272.54885847911993, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 605.1427513170433, + 275.14693469047324, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 606.6427513170433, + 277.74501090182656, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 608.1427513170433, + 280.3430871131799, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 609.6427513170433, + 282.9411633245332, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 611.1427513170433, + 285.5392395358865, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 612.6427513170433, + 288.1373157472398, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 614.1427513170433, + 290.73539195859314, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 615.6427513170433, + 293.33346816994646, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 617.1427513170433, + 295.9315443812998, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 618.6427513170433, + 298.5296205926531, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 620.1427513170433, + 301.1276968040064, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 621.6427513170433, + 303.7257730153597, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 623.1427513170433, + 306.32384922671304, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 624.6427513170433, + 308.92192543806635, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 626.1427513170433, + 311.52000164941967, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 627.6427513170433, + 314.118077860773, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 629.1427513170433, + 316.7161540721263, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 630.6427513170433, + 319.3142302834796, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 632.1427513170433, + 321.91230649483293, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 633.6427513170433, + 324.51038270618625, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 635.1427513170433, + 327.10845891753956, + 39.012867018345915 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 635.1427513170433, + 327.10845891753956, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 637.7408275283967, + 328.60845891753956, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 640.3389037397501, + 330.10845891753956, + 39.012867018345915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 642.9369799511035, + 331.60845891753956, + 39.012867018345915 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.0, + 348.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-10-5_1656527645/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-10-5_1656527645/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0a1b543ce7e46f23cc1cecd5e1bc6450f1b085e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-10-5_1656527645/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1663.5663865747915, + -402.80686246312746, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1665.0663865747915, + -405.4049386744808, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1666.5663865747915, + -408.0030148858341, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1668.0663865747915, + -410.6010910971874, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1669.5663865747915, + -413.1991673085407, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1671.0663865747915, + -415.79724351989404, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1672.5663865747915, + -418.39531973124735, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1674.0663865747915, + -420.99339594260067, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1675.5663865747915, + -423.591472153954, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1677.0663865747915, + -426.1895483653073, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1678.5663865747915, + -428.7876245766606, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1680.0663865747915, + -431.38570078801393, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1681.5663865747915, + -433.98377699936725, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1683.0663865747915, + -436.58185321072057, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1684.5663865747915, + -439.1799294220739, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1686.0663865747915, + -441.7780056334272, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1687.5663865747915, + -444.3760818447805, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1689.0663865747915, + -446.97415805613383, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1690.5663865747915, + -449.57223426748715, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1692.0663865747915, + -452.17031047884046, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1693.5663865747915, + -454.7683866901938, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1695.0663865747915, + -457.3664629015471, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1696.5663865747915, + -459.9645391129004, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1698.0663865747915, + -462.5626153242537, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1699.5663865747915, + -465.16069153560704, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1701.0663865747915, + -467.75876774696036, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1702.5663865747915, + -470.3568439583137, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1704.0663865747915, + -472.954920169667, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1705.5663865747915, + -475.5529963810203, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1707.0663865747915, + -478.1510725923736, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1708.5663865747915, + -480.74914880372694, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1710.0663865747915, + -483.34722501508026, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1711.5663865747915, + -485.94530122643357, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1713.0663865747915, + -488.5433774377869, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1714.5663865747915, + -491.1414536491402, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1716.0663865747915, + -493.7395298604935, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1717.5663865747915, + -496.33760607184684, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1719.0663865747915, + -498.93568228320015, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1720.5663865747915, + -501.53375849455347, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1722.0663865747915, + -504.1318347059068, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1723.5663865747915, + -506.7299109172601, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1725.0663865747915, + -509.3279871286134, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1726.5663865747915, + -511.92606333996673, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1728.0663865747915, + -514.5241395513201, + 39.08457539842409 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1728.0663865747915, + -514.5241395513201, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1728.0663865747915, + -517.5241395513201, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1728.0663865747915, + -520.5241395513201, + 39.08457539842409 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1728.0663865747915, + -523.5241395513201, + 39.08457539842409 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1748.0, + -560.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-11-8_922883852/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-11-8_922883852/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7dc44e56d4b0db66967f27da399396927bb5fe03 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-11-8_922883852/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1646.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1649.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1652.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1655.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1658.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1661.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1664.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1667.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1670.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1673.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1676.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1679.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1682.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1685.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1688.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1691.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1694.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1697.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1700.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1703.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1706.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1709.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1712.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1715.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1718.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1721.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1724.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1727.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1730.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1733.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1736.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1739.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1742.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1745.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1748.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1751.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1754.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1757.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1760.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1763.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1766.6259019452373, + -63.532687284451036, + 38.2986498258572 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1804.0, + -60.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-36-54_902411556/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-36-54_902411556/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f6d87b8e927b0841791a5d9d6eacc12f4ec484d6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_17-36-54_902411556/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1082.4259196461446, + -489.9079088717508, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1080.9259196461446, + -492.5059850831041, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1079.4259196461446, + -495.10406129445744, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1077.9259196461446, + -497.70213750581075, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1076.4259196461446, + -500.30021371716407, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1074.9259196461446, + -502.8982899285174, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1073.4259196461446, + -505.4963661398707, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1071.9259196461446, + -508.094442351224, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1070.4259196461446, + -510.69251856257733, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1068.9259196461446, + -513.2905947739307, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1067.4259196461446, + -515.8886709852841, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1065.9259196461446, + -518.4867471966375, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1064.4259196461446, + -521.0848234079908, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1062.9259196461446, + -523.6828996193442, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1061.4259196461446, + -526.2809758306976, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1059.9259196461446, + -528.879052042051, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1058.4259196461446, + -531.4771282534043, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1056.9259196461446, + -534.0752044647577, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1055.4259196461446, + -536.6732806761111, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1053.9259196461446, + -539.2713568874644, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1052.4259196461446, + -541.8694330988178, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1050.9259196461446, + -544.4675093101712, + 34.833266279833836 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1050.9259196461446, + -544.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1050.9259196461446, + -547.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1050.9259196461446, + -550.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1050.9259196461446, + -553.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1050.9259196461446, + -556.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1050.9259196461446, + -559.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1050.9259196461446, + -562.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1050.9259196461446, + -565.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1050.9259196461446, + -568.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1050.9259196461446, + -571.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1050.9259196461446, + -574.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1050.9259196461446, + -577.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1050.9259196461446, + -580.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1050.9259196461446, + -583.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1050.9259196461446, + -586.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1050.9259196461446, + -589.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1050.9259196461446, + -592.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1050.9259196461446, + -595.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1050.9259196461446, + -598.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1050.9259196461446, + -601.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1050.9259196461446, + -604.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1050.9259196461446, + -607.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1050.9259196461446, + -610.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1050.9259196461446, + -613.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1050.9259196461446, + -616.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1050.9259196461446, + -619.4675093101712, + 34.833266279833836 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1050.9259196461446, + -622.4675093101712, + 34.833266279833836 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1044.0, + -656.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-18-53_533424260/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-18-53_533424260/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb3444b82fe4d7eff526197f7390c5f09bdf46dd --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-18-53_533424260/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 396.4877696451506, + -716.4339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 393.8896934337973, + -714.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 391.29161722244396, + -713.4339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 388.69354101109064, + -711.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 386.09546479973733, + -710.4339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 383.497388588384, + -708.9339290571943, + 30.219429684502114 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 383.497388588384, + -708.9339290571943, + 30.219429684502114 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 383.497388588384, + -708.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 383.497388588384, + -705.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 383.497388588384, + -702.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 383.497388588384, + -699.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 383.497388588384, + -696.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 383.497388588384, + -693.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 383.497388588384, + -690.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 383.497388588384, + -687.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 383.497388588384, + -684.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 383.497388588384, + -681.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 383.497388588384, + -678.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 383.497388588384, + -675.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 383.497388588384, + -672.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 383.497388588384, + -669.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 383.497388588384, + -666.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 383.497388588384, + -663.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 383.497388588384, + -660.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 383.497388588384, + -657.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 383.497388588384, + -654.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 383.497388588384, + -651.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 383.497388588384, + -648.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 383.497388588384, + -645.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 383.497388588384, + -642.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 383.497388588384, + -639.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 383.497388588384, + -636.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 383.497388588384, + -633.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 383.497388588384, + -630.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 383.497388588384, + -627.9339290571943, + 30.219429684502114 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 383.497388588384, + -627.9339290571943, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 381.997388588384, + -625.3358528458409, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 380.497388588384, + -622.7377766344875, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 378.997388588384, + -620.1397004231342, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 377.497388588384, + -617.5416242117808, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 375.997388588384, + -614.9435480004274, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 374.497388588384, + -612.345471789074, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 372.997388588384, + -609.7473955777207, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 371.497388588384, + -607.1493193663673, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 369.997388588384, + -604.5512431550139, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 368.497388588384, + -601.9531669436606, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 366.997388588384, + -599.3550907323072, + 30.219429684502114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 365.497388588384, + -596.7570145209538, + 30.219429684502114 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 360.0, + -568.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-28-26_1930334779/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-28-26_1930334779/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..83caacc5499cadf55623b8c1f2e39eed2f66ef17 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-28-26_1930334779/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 456.1747421570109, + -1555.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 459.1747421570109, + -1555.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 462.1747421570109, + -1555.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 465.1747421570109, + -1555.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 468.1747421570109, + -1555.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 471.1747421570109, + -1555.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 474.1747421570109, + -1555.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 477.1747421570109, + -1555.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 480.1747421570109, + -1555.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 483.1747421570109, + -1555.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 486.1747421570109, + -1555.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 489.1747421570109, + -1555.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 492.1747421570109, + -1555.5921384873309, + 32.964702921634206 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 492.1747421570109, + -1555.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 494.7728183683642, + -1557.0921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 497.3708945797175, + -1558.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 499.96897079107083, + -1560.0921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 502.56704700242415, + -1561.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 505.16512321377746, + -1563.0921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 507.7631994251308, + -1564.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 510.3612756364841, + -1566.0921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 512.9593518478374, + -1567.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 515.5574280591907, + -1569.0921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 518.155504270544, + -1570.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 520.7535804818974, + -1572.0921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 523.3516566932508, + -1573.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 525.9497329046042, + -1575.0921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 528.5478091159575, + -1576.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 531.1458853273109, + -1578.0921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 533.7439615386643, + -1579.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 536.3420377500177, + -1581.0921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 538.940113961371, + -1582.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 541.5381901727244, + -1584.0921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 544.1362663840778, + -1585.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 546.7343425954311, + -1587.0921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 549.3324188067845, + -1588.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 551.9304950181379, + -1590.0921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 554.5285712294913, + -1591.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 557.1266474408446, + -1593.0921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 559.724723652198, + -1594.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 562.3227998635514, + -1596.0921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 564.9208760749048, + -1597.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 567.5189522862581, + -1599.0921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 570.1170284976115, + -1600.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 572.7151047089649, + -1602.0921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 575.3131809203182, + -1603.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 577.9112571316716, + -1605.0921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 580.509333343025, + -1606.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 583.1074095543784, + -1608.0921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 585.7054857657317, + -1609.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 588.3035619770851, + -1611.0921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 590.9016381884385, + -1612.5921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 593.4997143997919, + -1614.0921384873309, + 32.964702921634206 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 596.0977906111452, + -1615.5921384873309, + 32.964702921634206 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 620.0, + -1628.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-36-12_2087770711/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-36-12_2087770711/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c3fc48c775f6b22e70a1bb1631517c72177e3b73 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-36-12_2087770711/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 767.567184622636, + -178.17573389772167, + 39.807415868798756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 764.9691084112826, + -179.67573389772167, + 39.807415868798756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 762.3710321999292, + -181.17573389772167, + 39.807415868798756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 759.7729559885759, + -182.67573389772167, + 39.807415868798756 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 759.7729559885759, + -182.67573389772167, + 39.807415868798756 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 756.7729559885759, + -182.67573389772167, + 39.807415868798756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 753.7729559885759, + -182.67573389772167, + 39.807415868798756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 750.7729559885759, + -182.67573389772167, + 39.807415868798756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 747.7729559885759, + -182.67573389772167, + 39.807415868798756 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 747.7729559885759, + -182.67573389772167, + 39.807415868798756 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 745.1748797772225, + -184.17573389772167, + 39.807415868798756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 742.5768035658691, + -185.67573389772167, + 39.807415868798756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 739.9787273545157, + -187.17573389772167, + 39.807415868798756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 737.3806511431624, + -188.67573389772167, + 39.807415868798756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 734.782574931809, + -190.17573389772167, + 39.807415868798756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 732.1844987204556, + -191.67573389772167, + 39.807415868798756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 729.5864225091022, + -193.17573389772167, + 39.807415868798756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 726.9883462977489, + -194.67573389772167, + 39.807415868798756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 724.3902700863955, + -196.17573389772167, + 39.807415868798756 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 620.0, + -236.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-42-51_1481907231/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-42-51_1481907231/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4a8e723467d565140fe90db8d332c7394553703f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-42-51_1481907231/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1294.8061160872714, + -927.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1291.8061160872714, + -927.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1288.8061160872714, + -927.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1285.8061160872714, + -927.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1282.8061160872714, + -927.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1279.8061160872714, + -927.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1276.8061160872714, + -927.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1273.8061160872714, + -927.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1270.8061160872714, + -927.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1267.8061160872714, + -927.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1264.8061160872714, + -927.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1261.8061160872714, + -927.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1258.8061160872714, + -927.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1255.8061160872714, + -927.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1252.8061160872714, + -927.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1249.8061160872714, + -927.0379104531014, + 37.25337927632634 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1249.8061160872714, + -927.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1247.208039875918, + -928.5379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1244.6099636645647, + -930.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1242.0118874532113, + -931.5379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1239.413811241858, + -933.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1236.8157350305046, + -934.5379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1234.2176588191512, + -936.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1231.6195826077978, + -937.5379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1229.0215063964445, + -939.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1226.423430185091, + -940.5379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1223.8253539737377, + -942.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1221.2272777623843, + -943.5379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1218.629201551031, + -945.0379104531014, + 37.25337927632634 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1218.629201551031, + -945.0379104531014, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1217.129201551031, + -947.6359866644548, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1215.629201551031, + -950.2340628758081, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1214.129201551031, + -952.8321390871615, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1212.629201551031, + -955.4302152985149, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1211.129201551031, + -958.0282915098683, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1209.629201551031, + -960.6263677212216, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1208.129201551031, + -963.224443932575, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1206.629201551031, + -965.8225201439284, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1205.129201551031, + -968.4205963552818, + 37.25337927632634 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1205.129201551031, + -968.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1205.129201551031, + -971.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1205.129201551031, + -974.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1205.129201551031, + -977.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1205.129201551031, + -980.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1205.129201551031, + -983.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1205.129201551031, + -986.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1205.129201551031, + -989.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1205.129201551031, + -992.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1205.129201551031, + -995.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1205.129201551031, + -998.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1205.129201551031, + -1001.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -1205.129201551031, + -1004.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -1205.129201551031, + -1007.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -1205.129201551031, + -1010.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -1205.129201551031, + -1013.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -1205.129201551031, + -1016.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -1205.129201551031, + -1019.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -1205.129201551031, + -1022.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -1205.129201551031, + -1025.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -1205.129201551031, + -1028.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -1205.129201551031, + -1031.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -1205.129201551031, + -1034.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + -1205.129201551031, + -1037.4205963552818, + 37.25337927632634 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + -1205.129201551031, + -1037.4205963552818, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + -1203.629201551031, + -1040.0186725666351, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + -1202.129201551031, + -1042.6167487779885, + 37.25337927632634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + -1200.629201551031, + -1045.2148249893419, + 37.25337927632634 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1184.0, + -1068.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-46-29_1469543483/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-46-29_1469543483/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6378d9f50be427e8ccd6f916fbaca2a5173d286a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-46-29_1469543483/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 47.20582608660884, + 816.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 47.20582608660884, + 813.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 47.20582608660884, + 810.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 47.20582608660884, + 807.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 47.20582608660884, + 804.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 47.20582608660884, + 801.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 47.20582608660884, + 798.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 47.20582608660884, + 795.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 47.20582608660884, + 792.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 47.20582608660884, + 789.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 47.20582608660884, + 786.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 47.20582608660884, + 783.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 47.20582608660884, + 780.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 47.20582608660884, + 777.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 47.20582608660884, + 774.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 47.20582608660884, + 771.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 47.20582608660884, + 768.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 47.20582608660884, + 765.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 47.20582608660884, + 762.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 47.20582608660884, + 759.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 47.20582608660884, + 756.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 47.20582608660884, + 753.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 47.20582608660884, + 750.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 47.20582608660884, + 747.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 47.20582608660884, + 744.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 47.20582608660884, + 741.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 47.20582608660884, + 738.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 47.20582608660884, + 735.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 47.20582608660884, + 732.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 47.20582608660884, + 729.3216785345782, + 35.34618688264023 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 47.20582608660884, + 729.3216785345782, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 48.70582608660884, + 726.7236023232249, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 50.20582608660884, + 724.1255261118715, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 51.70582608660884, + 721.5274499005181, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 53.20582608660884, + 718.9293736891648, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 54.70582608660884, + 716.3312974778114, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 56.20582608660884, + 713.733221266458, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 57.70582608660884, + 711.1351450551047, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 59.20582608660884, + 708.5370688437513, + 35.34618688264023 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 60.70582608660884, + 705.9389926323979, + 35.34618688264023 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + 660.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-53-28_1099358641/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-53-28_1099358641/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..68707d4d395f4ed6d8cc2b237e121c385ee83221 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-53-28_1099358641/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1405.1652714009479, + -1475.6345287182787, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1406.6652714009479, + -1478.232604929632, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1408.1652714009479, + -1480.8306811409855, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1409.6652714009479, + -1483.4287573523388, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1411.1652714009479, + -1486.0268335636922, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1412.6652714009479, + -1488.6249097750456, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1414.1652714009479, + -1491.222985986399, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1415.6652714009479, + -1493.8210621977523, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1417.1652714009479, + -1496.4191384091057, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1418.6652714009479, + -1499.017214620459, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1420.1652714009479, + -1501.6152908318124, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1421.6652714009479, + -1504.2133670431658, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1423.1652714009479, + -1506.8114432545192, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1424.6652714009479, + -1509.4095194658726, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1426.1652714009479, + -1512.007595677226, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1427.6652714009479, + -1514.6056718885793, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1429.1652714009479, + -1517.2037480999327, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1430.6652714009479, + -1519.801824311286, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1432.1652714009479, + -1522.3999005226394, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1433.6652714009479, + -1524.9979767339928, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1435.1652714009479, + -1527.5960529453462, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1436.6652714009479, + -1530.1941291566995, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1438.1652714009479, + -1532.792205368053, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1439.6652714009479, + -1535.3902815794063, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1441.1652714009479, + -1537.9883577907597, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1442.6652714009479, + -1540.586434002113, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1444.1652714009479, + -1543.1845102134664, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1445.6652714009479, + -1545.7825864248198, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1447.1652714009479, + -1548.3806626361732, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1448.6652714009479, + -1550.9787388475265, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1450.1652714009479, + -1553.57681505888, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1451.6652714009479, + -1556.1748912702333, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1453.1652714009479, + -1558.7729674815866, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1454.6652714009479, + -1561.37104369294, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1456.1652714009479, + -1563.9691199042934, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1457.6652714009479, + -1566.5671961156468, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1459.1652714009479, + -1569.1652723270001, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1460.6652714009479, + -1571.7633485383535, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1462.1652714009479, + -1574.3614247497069, + 32.77878234100477 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1462.1652714009479, + -1574.3614247497069, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1464.7633476123012, + -1575.8614247497069, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1467.3614238236546, + -1577.3614247497069, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1469.959500035008, + -1578.8614247497069, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1472.5575762463614, + -1580.3614247497069, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1475.1556524577147, + -1581.8614247497069, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1477.753728669068, + -1583.3614247497069, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1480.3518048804215, + -1584.8614247497069, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1482.9498810917748, + -1586.3614247497069, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1485.5479573031282, + -1587.8614247497069, + 32.77878234100477 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1485.5479573031282, + -1587.8614247497069, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1488.5479573031282, + -1587.8614247497069, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1491.5479573031282, + -1587.8614247497069, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1494.5479573031282, + -1587.8614247497069, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1497.5479573031282, + -1587.8614247497069, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1500.5479573031282, + -1587.8614247497069, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1503.5479573031282, + -1587.8614247497069, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1506.5479573031282, + -1587.8614247497069, + 32.77878234100477 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1506.5479573031282, + -1587.8614247497069, + 32.77878234100477 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1506.5479573031282, + -1587.8614247497069, + 32.77878234100477 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1508.0479573031282, + -1590.4595009610603, + 32.77878234100477 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.0, + -1604.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-58-26_1367480709/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-58-26_1367480709/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f1d10b1227cce1083182c55104451cefe5c1017a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_18-58-26_1367480709/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1118.6792166328016, + -1257.4820610720615, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1120.1792166328016, + -1260.0801372834148, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1121.6792166328016, + -1262.6782134947682, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1123.1792166328016, + -1265.2762897061216, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1124.6792166328016, + -1267.874365917475, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1126.1792166328016, + -1270.4724421288283, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1127.6792166328016, + -1273.0705183401817, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1129.1792166328016, + -1275.668594551535, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1130.6792166328016, + -1278.2666707628885, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1132.1792166328016, + -1280.8647469742418, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1133.6792166328016, + -1283.4628231855952, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1135.1792166328016, + -1286.0608993969486, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1136.6792166328016, + -1288.658975608302, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1138.1792166328016, + -1291.2570518196553, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1139.6792166328016, + -1293.8551280310087, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1141.1792166328016, + -1296.453204242362, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1142.6792166328016, + -1299.0512804537154, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1144.1792166328016, + -1301.6493566650688, + 32.833130645556025 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1144.1792166328016, + -1301.6493566650688, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1146.777292844155, + -1303.1493566650688, + 32.833130645556025 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1146.777292844155, + -1303.1493566650688, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1148.277292844155, + -1305.7474328764222, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1149.777292844155, + -1308.3455090877756, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1151.277292844155, + -1310.943585299129, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1152.777292844155, + -1313.5416615104823, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1154.277292844155, + -1316.1397377218357, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1155.777292844155, + -1318.737813933189, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1157.277292844155, + -1321.3358901445424, + 32.833130645556025 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1157.277292844155, + -1321.3358901445424, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1157.277292844155, + -1324.3358901445424, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1157.277292844155, + -1327.3358901445424, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1157.277292844155, + -1330.3358901445424, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1157.277292844155, + -1333.3358901445424, + 32.833130645556025 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1157.277292844155, + -1333.3358901445424, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1158.777292844155, + -1335.9339663558958, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1160.277292844155, + -1338.5320425672492, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1161.777292844155, + -1341.1301187786025, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1163.277292844155, + -1343.728194989956, + 32.833130645556025 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1163.277292844155, + -1343.728194989956, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1163.277292844155, + -1346.728194989956, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1163.277292844155, + -1349.728194989956, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1163.277292844155, + -1352.728194989956, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1163.277292844155, + -1355.728194989956, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1163.277292844155, + -1358.728194989956, + 32.833130645556025 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1163.277292844155, + -1358.728194989956, + 32.833130645556025 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1163.277292844155, + -1358.728194989956, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1160.6792166328016, + -1360.228194989956, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1158.0811404214483, + -1361.728194989956, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1155.4830642100949, + -1363.228194989956, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1152.8849879987415, + -1364.728194989956, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1150.2869117873881, + -1366.228194989956, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1147.6888355760348, + -1367.728194989956, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1145.0907593646814, + -1369.228194989956, + 32.833130645556025 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1145.0907593646814, + -1369.228194989956, + 32.833130645556025 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1143.5907593646814, + -1371.8262712013093, + 32.833130645556025 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1152.0, + -1424.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-28-42_2094836299/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-28-42_2094836299/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b2b9b08ef22bb5d4030f53d83937b6c434b7b32 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_19-28-42_2094836299/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1552.4826948214818, + -523.4962710760611, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1549.8846186101284, + -521.9962710760611, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1547.286542398775, + -520.4962710760611, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1544.6884661874217, + -518.9962710760611, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1542.0903899760683, + -517.4962710760611, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1539.492313764715, + -515.9962710760611, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1536.8942375533616, + -514.4962710760611, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1534.2961613420082, + -512.9962710760611, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1531.6980851306548, + -511.49627107606113, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1529.1000089193014, + -509.99627107606113, + 36.57244616449668 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1529.1000089193014, + -509.99627107606113, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1527.6000089193014, + -507.3981948647078, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1526.1000089193014, + -504.8001186533545, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1524.6000089193014, + -502.2020424420012, + 36.57244616449668 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1524.6000089193014, + -502.2020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1522.001932707948, + -500.7020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1519.4038564965947, + -499.2020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1516.8057802852413, + -497.7020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1514.207704073888, + -496.2020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1511.6096278625346, + -494.7020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1509.0115516511812, + -493.2020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1506.4134754398278, + -491.7020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1503.8153992284745, + -490.2020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1501.217323017121, + -488.7020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1498.6192468057677, + -487.2020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1496.0211705944143, + -485.7020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1493.423094383061, + -484.2020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1490.8250181717076, + -482.7020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1488.2269419603542, + -481.2020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1485.6288657490009, + -479.7020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1483.0307895376475, + -478.2020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1480.432713326294, + -476.7020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1477.8346371149407, + -475.2020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1475.2365609035874, + -473.7020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1472.638484692234, + -472.2020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1470.0404084808806, + -470.7020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1467.4423322695272, + -469.2020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1464.8442560581739, + -467.7020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1462.2461798468205, + -466.2020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1459.6481036354671, + -464.7020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1457.0500274241138, + -463.2020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1454.4519512127604, + -461.7020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1451.853875001407, + -460.2020424420012, + 36.57244616449668 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1449.2557987900536, + -458.7020424420012, + 36.57244616449668 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1404.0, + -432.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-10-21_74552805/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-10-21_74552805/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1f1d8060b72ace549fa4c434279adfd7f0ef4fab --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-10-21_74552805/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1764.562820174232, + -658.6619949167421, + 33.302307070808254 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1767.562820174232, + -658.6619949167421, + 33.302307070808254 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1770.562820174232, + -658.6619949167421, + 33.302307070808254 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1773.562820174232, + -658.6619949167421, + 33.302307070808254 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1776.562820174232, + -658.6619949167421, + 33.302307070808254 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1779.562820174232, + -658.6619949167421, + 33.302307070808254 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1782.562820174232, + -658.6619949167421, + 33.302307070808254 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1785.562820174232, + -658.6619949167421, + 33.302307070808254 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1788.562820174232, + -658.6619949167421, + 33.302307070808254 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1791.562820174232, + -658.6619949167421, + 33.302307070808254 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1794.562820174232, + -658.6619949167421, + 33.302307070808254 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1794.562820174232, + -658.6619949167421, + 33.302307070808254 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1797.1608963855854, + -657.1619949167421, + 33.302307070808254 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1799.7589725969387, + -655.6619949167421, + 33.302307070808254 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1932.0, + -644.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-18-55_107734713/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-18-55_107734713/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2ac63635e926aeebe82e57355caef704b940a80 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-18-55_107734713/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 321.4734548951742, + -712.2845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 318.8753786838209, + -710.7845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 316.27730247246757, + -709.2845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 313.67922626111425, + -707.7845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 311.08115004976094, + -706.2845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 308.4830738384076, + -704.7845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 305.8849976270543, + -703.2845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 303.286921415701, + -701.7845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 300.6888452043477, + -700.2845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 298.09076899299436, + -698.7845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 295.49269278164104, + -697.2845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 292.8946165702877, + -695.7845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 290.2965403589344, + -694.2845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 287.6984641475811, + -692.7845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 285.1003879362278, + -691.2845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 282.50231172487446, + -689.7845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 279.90423551352114, + -688.2845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 277.3061593021678, + -686.7845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 274.7080830908145, + -685.2845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 272.1100068794612, + -683.7845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 269.5119306681079, + -682.2845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 266.91385445675456, + -680.7845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 264.31577824540125, + -679.2845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 261.71770203404793, + -677.7845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 259.1196258226946, + -676.2845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 256.5215496113413, + -674.7845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 253.92347339998798, + -673.2845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 251.32539718863467, + -671.7845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 248.72732097728135, + -670.2845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 246.12924476592804, + -668.7845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 243.53116855457472, + -667.2845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 240.9330923432214, + -665.7845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 238.3350161318681, + -664.2845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 235.73693992051477, + -662.7845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 233.13886370916146, + -661.2845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 230.54078749780814, + -659.7845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 227.94271128645482, + -658.2845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 225.3446350751015, + -656.7845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 222.7465588637482, + -655.2845114069687, + 30.121748557722384 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 220.14848265239488, + -653.7845114069687, + 30.121748557722384 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 184.0, + -636.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-9-14_1215828993/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-9-14_1215828993/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3454bbdc849e006fb1ae64ada99606e8bd4d8b1b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_2-9-14_1215828993/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 127.38374263932883, + 385.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 127.38374263932883, + 382.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 127.38374263932883, + 379.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 127.38374263932883, + 376.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 127.38374263932883, + 373.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 127.38374263932883, + 370.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 127.38374263932883, + 367.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 127.38374263932883, + 364.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 127.38374263932883, + 361.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 127.38374263932883, + 358.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 127.38374263932883, + 355.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 127.38374263932883, + 352.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 127.38374263932883, + 349.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 127.38374263932883, + 346.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 127.38374263932883, + 343.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 127.38374263932883, + 340.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 127.38374263932883, + 337.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 127.38374263932883, + 334.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 127.38374263932883, + 331.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 127.38374263932883, + 328.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 127.38374263932883, + 325.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 127.38374263932883, + 322.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 127.38374263932883, + 319.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 127.38374263932883, + 316.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 127.38374263932883, + 313.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 127.38374263932883, + 310.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 127.38374263932883, + 307.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 127.38374263932883, + 304.9990749830848, + 31.947525628586266 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 127.38374263932883, + 304.9990749830848, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 128.88374263932883, + 302.4009987717315, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 130.38374263932883, + 299.8029225603782, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 131.88374263932883, + 297.2048463490249, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 133.38374263932883, + 294.60677013767156, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 134.88374263932883, + 292.00869392631824, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 136.38374263932883, + 289.41061771496493, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 137.88374263932883, + 286.8125415036116, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 139.38374263932883, + 284.2144652922583, + 31.947525628586266 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 139.38374263932883, + 284.2144652922583, + 31.947525628586266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 139.38374263932883, + 281.2144652922583, + 31.947525628586266 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 148.0, + 208.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-29-12_1117726230/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-29-12_1117726230/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87875c42441dc00484a45dc9822a8aa8196dff7c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-29-12_1117726230/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1367.7895187194301, + 61.75693910464622, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1369.2895187194301, + 64.35501531599954, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1370.7895187194301, + 66.95309152735285, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1372.2895187194301, + 69.55116773870617, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1373.7895187194301, + 72.14924395005949, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1375.2895187194301, + 74.7473201614128, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1376.7895187194301, + 77.34539637276612, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1378.2895187194301, + 79.94347258411943, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1379.7895187194301, + 82.54154879547275, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1381.2895187194301, + 85.13962500682607, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1382.7895187194301, + 87.73770121817938, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1384.2895187194301, + 90.3357774295327, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1385.7895187194301, + 92.93385364088601, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1387.2895187194301, + 95.53192985223933, + 36.99447293378967 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1387.2895187194301, + 95.53192985223933, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1387.2895187194301, + 98.53192985223933, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1387.2895187194301, + 101.53192985223933, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1387.2895187194301, + 104.53192985223933, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1387.2895187194301, + 107.53192985223933, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1387.2895187194301, + 110.53192985223933, + 36.99447293378967 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1387.2895187194301, + 110.53192985223933, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1388.7895187194301, + 113.13000606359265, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1390.2895187194301, + 115.72808227494596, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1391.7895187194301, + 118.32615848629928, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1393.2895187194301, + 120.9242346976526, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1394.7895187194301, + 123.52231090900591, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1396.2895187194301, + 126.12038712035923, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1397.7895187194301, + 128.71846333171254, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1399.2895187194301, + 131.31653954306586, + 36.99447293378967 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1399.2895187194301, + 131.31653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1401.8875949307835, + 132.81653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1404.4856711421369, + 134.31653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1407.0837473534903, + 135.81653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1409.6818235648436, + 137.31653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1412.279899776197, + 138.81653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1414.8779759875504, + 140.31653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1417.4760521989037, + 141.81653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1420.0741284102571, + 143.31653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1422.6722046216105, + 144.81653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1425.2702808329639, + 146.31653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1427.8683570443172, + 147.81653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1430.4664332556706, + 149.31653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1433.064509467024, + 150.81653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1435.6625856783774, + 152.31653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1438.2606618897307, + 153.81653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1440.858738101084, + 155.31653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1443.4568143124375, + 156.81653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1446.0548905237908, + 158.31653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1448.6529667351442, + 159.81653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1451.2510429464976, + 161.31653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1453.849119157851, + 162.81653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1456.4471953692043, + 164.31653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1459.0452715805577, + 165.81653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1461.643347791911, + 167.31653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1464.2414240032645, + 168.81653954306586, + 36.99447293378967 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1464.2414240032645, + 168.81653954306586, + 36.99447293378967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1465.7414240032645, + 171.41461575441917, + 36.99447293378967 + ], + "type": "stop", + "value": 0, + "yaw": 1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1480.0, + 188.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-39-18_1764756387/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-39-18_1764756387/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7535c51aafb37e2192ae248f29ac1363aa36b4a4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-39-18_1764756387/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1212.027156139944, + 1551.9465749724068, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1213.527156139944, + 1554.5446511837602, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1215.027156139944, + 1557.1427273951135, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1216.527156139944, + 1559.740803606467, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1218.027156139944, + 1562.3388798178203, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1219.527156139944, + 1564.9369560291736, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1221.027156139944, + 1567.535032240527, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1222.527156139944, + 1570.1331084518804, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1224.027156139944, + 1572.7311846632338, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1225.527156139944, + 1575.3292608745871, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1227.027156139944, + 1577.9273370859405, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1228.527156139944, + 1580.5254132972939, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1230.027156139944, + 1583.1234895086473, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1231.527156139944, + 1585.7215657200006, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1233.027156139944, + 1588.319641931354, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1234.527156139944, + 1590.9177181427074, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1236.027156139944, + 1593.5157943540607, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1237.527156139944, + 1596.1138705654141, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1239.027156139944, + 1598.7119467767675, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1240.527156139944, + 1601.3100229881209, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1242.027156139944, + 1603.9080991994742, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1243.527156139944, + 1606.5061754108276, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1245.027156139944, + 1609.104251622181, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1246.527156139944, + 1611.7023278335344, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1248.027156139944, + 1614.3004040448877, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1249.527156139944, + 1616.898480256241, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1251.027156139944, + 1619.4965564675945, + 30.245479296817287 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1251.027156139944, + 1619.4965564675945, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1253.6252323512974, + 1620.9965564675945, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1256.2233085626508, + 1622.4965564675945, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1258.8213847740042, + 1623.9965564675945, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1261.4194609853575, + 1625.4965564675945, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1264.017537196711, + 1626.9965564675945, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1266.6156134080643, + 1628.4965564675945, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1269.2136896194177, + 1629.9965564675945, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1271.811765830771, + 1631.4965564675945, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1274.4098420421244, + 1632.9965564675945, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1277.0079182534778, + 1634.4965564675945, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1279.6059944648312, + 1635.9965564675945, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1282.2040706761845, + 1637.4965564675945, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1284.802146887538, + 1638.9965564675945, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1287.4002230988913, + 1640.4965564675945, + 30.245479296817287 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1289.9982993102446, + 1641.9965564675945, + 30.245479296817287 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1316.0, + 1668.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-43-17_1840735668/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-43-17_1840735668/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..187ee15dcf5a8944ec1dda63d2ee3752be3ca441 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_20-43-17_1840735668/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 151.23465953538818, + 784.9945103992779, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 149.73465953538818, + 782.3964341879246, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 148.23465953538818, + 779.7983579765712, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 146.73465953538818, + 777.2002817652178, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 145.23465953538818, + 774.6022055538645, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 143.73465953538818, + 772.0041293425111, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 142.23465953538818, + 769.4060531311577, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 140.73465953538818, + 766.8079769198043, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 139.23465953538818, + 764.209900708451, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 137.73465953538818, + 761.6118244970976, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 136.23465953538818, + 759.0137482857442, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 134.73465953538818, + 756.4156720743908, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 133.23465953538818, + 753.8175958630375, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 131.73465953538818, + 751.2195196516841, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 130.23465953538818, + 748.6214434403307, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 128.73465953538818, + 746.0233672289773, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 127.23465953538818, + 743.425291017624, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 125.73465953538818, + 740.8272148062706, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 124.23465953538818, + 738.2291385949172, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 122.73465953538818, + 735.6310623835639, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 121.23465953538818, + 733.0329861722105, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 119.73465953538818, + 730.4349099608571, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 118.23465953538818, + 727.8368337495037, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 116.73465953538818, + 725.2387575381504, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 115.23465953538818, + 722.640681326797, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 113.73465953538818, + 720.0426051154436, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 112.23465953538818, + 717.4445289040902, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 110.73465953538818, + 714.8464526927369, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 109.23465953538818, + 712.2483764813835, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 107.73465953538818, + 709.6503002700301, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 106.23465953538818, + 707.0522240586768, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 104.73465953538818, + 704.4541478473234, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 103.23465953538818, + 701.85607163597, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 101.73465953538818, + 699.2579954246166, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 100.23465953538818, + 696.6599192132633, + 37.05100797692653 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 100.23465953538818, + 696.6599192132633, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 97.63658332403486, + 695.1599192132633, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 95.03850711268154, + 693.6599192132633, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 92.44043090132823, + 692.1599192132633, + 37.05100797692653 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 89.84235468997491, + 690.6599192132633, + 37.05100797692653 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + 660.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-21-4_1862140492/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-21-4_1862140492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f6ee4b031bfd786463627d5026aca8c102d6c5a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-21-4_1862140492/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1104.38193464922, + 1655.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1107.38193464922, + 1655.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1110.38193464922, + 1655.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1113.38193464922, + 1655.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1116.38193464922, + 1655.6461215604265, + 38.65106175300167 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1116.38193464922, + 1655.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1118.9800108605734, + 1657.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1121.5780870719268, + 1658.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1124.1761632832802, + 1660.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1126.7742394946335, + 1661.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1129.372315705987, + 1663.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1131.9703919173403, + 1664.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1134.5684681286937, + 1666.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1137.166544340047, + 1667.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1139.7646205514004, + 1669.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1142.3626967627538, + 1670.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1144.9607729741072, + 1672.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1147.5588491854605, + 1673.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1150.156925396814, + 1675.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1152.7550016081673, + 1676.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1155.3530778195206, + 1678.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1157.951154030874, + 1679.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1160.5492302422274, + 1681.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1163.1473064535808, + 1682.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1165.7453826649341, + 1684.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1168.3434588762875, + 1685.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1170.941535087641, + 1687.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1173.5396112989943, + 1688.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1176.1376875103476, + 1690.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1178.735763721701, + 1691.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1181.3338399330544, + 1693.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1183.9319161444078, + 1694.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1186.5299923557611, + 1696.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1189.1280685671145, + 1697.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1191.7261447784679, + 1699.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1194.3242209898212, + 1700.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1196.9222972011746, + 1702.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1199.520373412528, + 1703.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1202.1184496238814, + 1705.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1204.7165258352347, + 1706.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1207.314602046588, + 1708.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1209.9126782579415, + 1709.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1212.5107544692949, + 1711.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1215.1088306806482, + 1712.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1217.7069068920016, + 1714.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1220.304983103355, + 1715.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1222.9030593147083, + 1717.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1225.5011355260617, + 1718.6461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1228.099211737415, + 1720.1461215604265, + 38.65106175300167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1230.6972879487685, + 1721.6461215604265, + 38.65106175300167 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1260.0, + 1736.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-28-30_625288549/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-28-30_625288549/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e0be5e373ddcd2cbc3343341d4aa6849cd99347 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-28-30_625288549/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -39.51611928933309, + -51.92931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -42.11419550068641, + -50.42931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -44.71227171203972, + -48.92931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -47.31034792339304, + -47.42931304299057, + 36.2792490365789 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -47.31034792339304, + -47.42931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -50.31034792339304, + -47.42931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -53.31034792339304, + -47.42931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -56.31034792339304, + -47.42931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -59.31034792339304, + -47.42931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -62.31034792339304, + -47.42931304299057, + 36.2792490365789 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -62.31034792339304, + -47.42931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -64.90842413474635, + -45.92931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -67.50650034609967, + -44.42931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -70.10457655745299, + -42.92931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -72.7026527688063, + -41.42931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -75.30072898015962, + -39.92931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -77.89880519151293, + -38.42931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -80.49688140286625, + -36.92931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -83.09495761421957, + -35.42931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -85.69303382557288, + -33.92931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -88.2911100369262, + -32.42931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -90.88918624827951, + -30.92931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -93.48726245963283, + -29.42931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -96.08533867098615, + -27.92931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -98.68341488233946, + -26.42931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -101.28149109369278, + -24.92931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -103.8795673050461, + -23.42931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -106.47764351639941, + -21.92931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -109.07571972775273, + -20.42931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -111.67379593910604, + -18.92931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -114.27187215045936, + -17.42931304299057, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -116.86994836181267, + -15.929313042990572, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -119.46802457316599, + -14.429313042990572, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -122.0661007845193, + -12.929313042990572, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -124.66417699587262, + -11.429313042990572, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -127.26225320722594, + -9.929313042990572, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -129.86032941857925, + -8.429313042990572, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -132.45840562993257, + -6.929313042990572, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -135.0564818412859, + -5.429313042990572, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -137.6545580526392, + -3.9293130429905716, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -140.25263426399252, + -2.4293130429905716, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -142.85071047534583, + -0.9293130429905718, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -145.44878668669915, + 0.570686957009428, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -148.04686289805247, + 2.0706869570094275, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -150.64493910940578, + 3.5706869570094275, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -153.2430153207591, + 5.0706869570094275, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -155.84109153211242, + 6.5706869570094275, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -158.43916774346573, + 8.070686957009427, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991495 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -161.03724395481905, + 9.570686957009427, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -163.63532016617236, + 11.070686957009427, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -166.23339637752568, + 12.570686957009427, + 36.2792490365789 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -168.831472588879, + 14.070686957009427, + 36.2792490365789 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -196.0, + 28.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-44-2_999416032/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-44-2_999416032/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a24ba92e80790a1596b2de28ff7684e8b43c892b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-44-2_999416032/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -207.2039597439188, + 657.8528181376204, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -204.2039597439188, + 657.8528181376204, + 33.35548477506769 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -204.2039597439188, + 657.8528181376204, + 33.35548477506769 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -204.2039597439188, + 657.8528181376204, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -202.7039597439188, + 660.4508943489736, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -201.2039597439188, + 663.048970560327, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -199.7039597439188, + 665.6470467716804, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -198.2039597439188, + 668.2451229830338, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -196.7039597439188, + 670.8431991943871, + 33.35548477506769 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -196.7039597439188, + 670.8431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -194.10588353256549, + 672.3431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -191.50780732121217, + 673.8431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -188.90973110985885, + 675.3431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -186.31165489850554, + 676.8431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -183.71357868715222, + 678.3431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -181.1155024757989, + 679.8431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -178.5174262644456, + 681.3431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -175.91935005309227, + 682.8431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -173.32127384173896, + 684.3431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -170.72319763038564, + 685.8431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -168.12512141903233, + 687.3431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -165.527045207679, + 688.8431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -162.9289689963257, + 690.3431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -160.33089278497238, + 691.8431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -157.73281657361906, + 693.3431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -155.13474036226575, + 694.8431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -152.53666415091243, + 696.3431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -149.9385879395591, + 697.8431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -147.3405117282058, + 699.3431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -144.74243551685248, + 700.8431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -142.14435930549917, + 702.3431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -139.54628309414585, + 703.8431991943871, + 33.35548477506769 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -139.54628309414585, + 703.8431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -136.54628309414585, + 703.8431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -133.54628309414585, + 703.8431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -130.54628309414585, + 703.8431991943871, + 33.35548477506769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -127.54628309414585, + 703.8431991943871, + 33.35548477506769 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -64.0, + 736.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-50-6_1990178440/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-50-6_1990178440/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..33787c4ad1bc24ce73a46d1a026031dfaa93a885 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-50-6_1990178440/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1305.7609916420874, + -262.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1303.162915430734, + -264.33558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1300.5648392193807, + -265.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1297.9667630080273, + -267.33558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1295.368686796674, + -268.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1292.7706105853206, + -270.33558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1290.1725343739672, + -271.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1287.5744581626138, + -273.33558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1284.9763819512605, + -274.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1282.378305739907, + -276.33558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1279.7802295285537, + -277.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1277.1821533172003, + -279.33558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1274.584077105847, + -280.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1271.9860008944936, + -282.33558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1269.3879246831402, + -283.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1266.7898484717869, + -285.33558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1264.1917722604335, + -286.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1261.59369604908, + -288.33558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1258.9956198377267, + -289.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1256.3975436263734, + -291.33558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1253.79946741502, + -292.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1251.2013912036666, + -294.33558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1248.6033149923132, + -295.83558807230435, + 39.5178695517926 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1248.6033149923132, + -295.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1245.6033149923132, + -295.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1242.6033149923132, + -295.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1239.6033149923132, + -295.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1236.6033149923132, + -295.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1233.6033149923132, + -295.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1230.6033149923132, + -295.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1227.6033149923132, + -295.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1224.6033149923132, + -295.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1221.6033149923132, + -295.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1218.6033149923132, + -295.83558807230435, + 39.5178695517926 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1218.6033149923132, + -295.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1216.0052387809599, + -297.33558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1213.4071625696065, + -298.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1210.8090863582531, + -300.33558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1208.2110101468998, + -301.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1205.6129339355464, + -303.33558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1203.014857724193, + -304.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1200.4167815128396, + -306.33558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1197.8187053014863, + -307.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1195.220629090133, + -309.33558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1192.6225528787795, + -310.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1190.0244766674261, + -312.33558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1187.4264004560728, + -313.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1184.8283242447194, + -315.33558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1182.230248033366, + -316.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1179.6321718220127, + -318.33558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1177.0340956106593, + -319.83558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1174.436019399306, + -321.33558807230435, + 39.5178695517926 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1174.436019399306, + -321.33558807230435, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1172.936019399306, + -323.93366428365766, + 39.5178695517926 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1171.436019399306, + -326.531740495011, + 39.5178695517926 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1148.0, + -340.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-59-4_896172326/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-59-4_896172326/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f04754e8d76b290edad5ff696bd4220460b66fcb --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_21-59-4_896172326/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 947.8035332320122, + -1044.5041204291817, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 949.3035332320122, + -1041.9060442178284, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 950.8035332320122, + -1039.307968006475, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 952.3035332320122, + -1036.7098917951216, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 953.8035332320122, + -1034.1118155837682, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 955.3035332320122, + -1031.5137393724149, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 956.8035332320122, + -1028.9156631610615, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 958.3035332320122, + -1026.3175869497081, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 959.8035332320122, + -1023.7195107383548, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 961.3035332320122, + -1021.1214345270014, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 962.8035332320122, + -1018.523358315648, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 964.3035332320122, + -1015.9252821042946, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 965.8035332320122, + -1013.3272058929413, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 967.3035332320122, + -1010.7291296815879, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 968.8035332320122, + -1008.1310534702345, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 970.3035332320122, + -1005.5329772588811, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 971.8035332320122, + -1002.9349010475278, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 973.3035332320122, + -1000.3368248361744, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 974.8035332320122, + -997.738748624821, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 976.3035332320122, + -995.1406724134677, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 977.8035332320122, + -992.5425962021143, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 979.3035332320122, + -989.9445199907609, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 980.8035332320122, + -987.3464437794075, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 982.3035332320122, + -984.7483675680542, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 983.8035332320122, + -982.1502913567008, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 985.3035332320122, + -979.5522151453474, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 986.8035332320122, + -976.954138933994, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 988.3035332320122, + -974.3560627226407, + 36.99765654023906 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 988.3035332320122, + -974.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 988.3035332320122, + -971.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 988.3035332320122, + -968.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 988.3035332320122, + -965.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 988.3035332320122, + -962.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 988.3035332320122, + -959.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 988.3035332320122, + -956.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 988.3035332320122, + -953.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 988.3035332320122, + -950.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 988.3035332320122, + -947.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 988.3035332320122, + -944.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 988.3035332320122, + -941.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 988.3035332320122, + -938.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 988.3035332320122, + -935.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 988.3035332320122, + -932.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 988.3035332320122, + -929.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 988.3035332320122, + -926.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 988.3035332320122, + -923.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 988.3035332320122, + -920.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 988.3035332320122, + -917.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 988.3035332320122, + -914.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 988.3035332320122, + -911.3560627226407, + 36.99765654023906 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 988.3035332320122, + -908.3560627226407, + 36.99765654023906 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1000.0, + -876.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-25-50_1926231109/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-25-50_1926231109/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd3a94c0551a123652b1d663571faa6a2bee0c47 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-25-50_1926231109/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1015.083012783239, + 1615.796606871551, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1013.583012783239, + 1618.3946830829043, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1012.083012783239, + 1620.9927592942577, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1010.583012783239, + 1623.590835505611, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1009.083012783239, + 1626.1889117169644, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1007.583012783239, + 1628.7869879283178, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1006.083012783239, + 1631.3850641396712, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1004.583012783239, + 1633.9831403510245, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1003.083012783239, + 1636.581216562378, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1001.583012783239, + 1639.1792927737313, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1000.083012783239, + 1641.7773689850846, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 998.583012783239, + 1644.375445196438, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 997.083012783239, + 1646.9735214077914, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 995.583012783239, + 1649.5715976191448, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 994.083012783239, + 1652.1696738304981, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 992.583012783239, + 1654.7677500418515, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 991.083012783239, + 1657.365826253205, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 989.583012783239, + 1659.9639024645583, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 988.083012783239, + 1662.5619786759116, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 986.583012783239, + 1665.160054887265, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 985.083012783239, + 1667.7581310986184, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 983.583012783239, + 1670.3562073099718, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 982.083012783239, + 1672.9542835213251, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 980.583012783239, + 1675.5523597326785, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 979.083012783239, + 1678.1504359440319, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 977.583012783239, + 1680.7485121553852, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 976.083012783239, + 1683.3465883667386, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 974.583012783239, + 1685.944664578092, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 973.083012783239, + 1688.5427407894454, + 30.919420689146733 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 973.083012783239, + 1688.5427407894454, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 973.083012783239, + 1691.5427407894454, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 973.083012783239, + 1694.5427407894454, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 973.083012783239, + 1697.5427407894454, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 973.083012783239, + 1700.5427407894454, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 973.083012783239, + 1703.5427407894454, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 973.083012783239, + 1706.5427407894454, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 973.083012783239, + 1709.5427407894454, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 973.083012783239, + 1712.5427407894454, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 973.083012783239, + 1715.5427407894454, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 973.083012783239, + 1718.5427407894454, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 973.083012783239, + 1721.5427407894454, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 973.083012783239, + 1724.5427407894454, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 973.083012783239, + 1727.5427407894454, + 30.919420689146733 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 973.083012783239, + 1730.5427407894454, + 30.919420689146733 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 960.0, + 1772.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-29-24_1600243658/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-29-24_1600243658/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee47697f9bd5fec5c9dd2ce49e317a2f7054727c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-29-24_1600243658/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 317.7367914599529, + -427.4198290186981, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 316.2367914599529, + -430.01790523005144, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 314.7367914599529, + -432.61598144140476, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 313.2367914599529, + -435.2140576527581, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 311.7367914599529, + -437.8121338641114, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 310.2367914599529, + -440.4102100754647, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 308.7367914599529, + -443.008286286818, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 307.2367914599529, + -445.60636249817134, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 305.7367914599529, + -448.20443870952465, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 304.2367914599529, + -450.80251492087797, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 302.7367914599529, + -453.4005911322313, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 301.2367914599529, + -455.9986673435846, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 299.7367914599529, + -458.5967435549379, + 37.47999341313759 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 299.7367914599529, + -458.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 299.7367914599529, + -461.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 299.7367914599529, + -464.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 299.7367914599529, + -467.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 299.7367914599529, + -470.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 299.7367914599529, + -473.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 299.7367914599529, + -476.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 299.7367914599529, + -479.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 299.7367914599529, + -482.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 299.7367914599529, + -485.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 299.7367914599529, + -488.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 299.7367914599529, + -491.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 299.7367914599529, + -494.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 299.7367914599529, + -497.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 299.7367914599529, + -500.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 299.7367914599529, + -503.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 299.7367914599529, + -506.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 299.7367914599529, + -509.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 299.7367914599529, + -512.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 299.7367914599529, + -515.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 299.7367914599529, + -518.5967435549379, + 37.47999341313759 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 299.7367914599529, + -518.5967435549379, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 301.2367914599529, + -521.1948197662912, + 37.47999341313759 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 301.2367914599529, + -521.1948197662912, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982895 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 303.8348676713062, + -522.6948197662912, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 306.4329438826595, + -524.1948197662912, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 309.03102009401283, + -525.6948197662912, + 37.47999341313759 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 309.03102009401283, + -525.6948197662912, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 310.53102009401283, + -528.2928959776445, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 312.03102009401283, + -530.8909721889979, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 313.53102009401283, + -533.4890484003513, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 315.03102009401283, + -536.0871246117047, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 316.53102009401283, + -538.685200823058, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 318.03102009401283, + -541.2832770344114, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 319.53102009401283, + -543.8813532457648, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 321.03102009401283, + -546.4794294571182, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 322.53102009401283, + -549.0775056684715, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 324.03102009401283, + -551.6755818798249, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 325.53102009401283, + -554.2736580911783, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 327.03102009401283, + -556.8717343025316, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 328.53102009401283, + -559.469810513885, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 330.03102009401283, + -562.0678867252384, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 331.53102009401283, + -564.6659629365918, + 37.47999341313759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 333.03102009401283, + -567.2640391479451, + 37.47999341313759 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 332.0, + -584.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-43-33_1478633400/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-43-33_1478633400/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..edd76dea88919aff14b45eb89186800a8ec19651 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-43-33_1478633400/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1716.5079497594725, + -640.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1716.5079497594725, + -643.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1716.5079497594725, + -646.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1716.5079497594725, + -649.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1716.5079497594725, + -652.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1716.5079497594725, + -655.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1716.5079497594725, + -658.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1716.5079497594725, + -661.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1716.5079497594725, + -664.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1716.5079497594725, + -667.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1716.5079497594725, + -670.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1716.5079497594725, + -673.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1716.5079497594725, + -676.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1716.5079497594725, + -679.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1716.5079497594725, + -682.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1716.5079497594725, + -685.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1716.5079497594725, + -688.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1716.5079497594725, + -691.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1716.5079497594725, + -694.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1716.5079497594725, + -697.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1716.5079497594725, + -700.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1716.5079497594725, + -703.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1716.5079497594725, + -706.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1716.5079497594725, + -709.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1716.5079497594725, + -712.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1716.5079497594725, + -715.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1716.5079497594725, + -718.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1716.5079497594725, + -721.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1716.5079497594725, + -724.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1716.5079497594725, + -727.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1716.5079497594725, + -730.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1716.5079497594725, + -733.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1716.5079497594725, + -736.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1716.5079497594725, + -739.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1716.5079497594725, + -742.7312879958715, + 30.4478431502782 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1716.5079497594725, + -742.7312879958715, + 30.4478431502782 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1716.5079497594725, + -742.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1719.1060259708258, + -744.2312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1721.7041021821792, + -745.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1724.3021783935326, + -747.2312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1726.900254604886, + -748.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1729.4983308162393, + -750.2312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1732.0964070275927, + -751.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1734.694483238946, + -753.2312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1737.2925594502994, + -754.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1739.8906356616528, + -756.2312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1742.4887118730062, + -757.7312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1745.0867880843596, + -759.2312879958715, + 30.4478431502782 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1745.0867880843596, + -759.2312879958715, + 30.4478431502782 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1745.0867880843596, + -759.2312879958715, + 30.4478431502782 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -1745.0867880843596, + -762.2312879958715, + 30.4478431502782 + ], + "type": "stop", + "value": 0, + "yaw": -1.570796326794906 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1752.0, + -788.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-57-11_1599184492/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-57-11_1599184492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67eab44a8675721c0c55a3193e388db20353b695 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_22-57-11_1599184492/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1747.328680973426, + -1362.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1747.328680973426, + -1359.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1747.328680973426, + -1356.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1747.328680973426, + -1353.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1747.328680973426, + -1350.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1747.328680973426, + -1347.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1747.328680973426, + -1344.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1747.328680973426, + -1341.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1747.328680973426, + -1338.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1747.328680973426, + -1335.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1747.328680973426, + -1332.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1747.328680973426, + -1329.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1747.328680973426, + -1326.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1747.328680973426, + -1323.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1747.328680973426, + -1320.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1747.328680973426, + -1317.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1747.328680973426, + -1314.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1747.328680973426, + -1311.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1747.328680973426, + -1308.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1747.328680973426, + -1305.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1747.328680973426, + -1302.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1747.328680973426, + -1299.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1747.328680973426, + -1296.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1747.328680973426, + -1293.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1747.328680973426, + -1290.8899202059526, + 30.0031003829474 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1747.328680973426, + -1290.8899202059526, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1745.828680973426, + -1288.2918439945993, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1744.328680973426, + -1285.693767783246, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1742.828680973426, + -1283.0956915718925, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1741.328680973426, + -1280.4976153605392, + 30.0031003829474 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1741.328680973426, + -1280.4976153605392, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1741.328680973426, + -1277.4976153605392, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1741.328680973426, + -1274.4976153605392, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1741.328680973426, + -1271.4976153605392, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1741.328680973426, + -1268.4976153605392, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1741.328680973426, + -1265.4976153605392, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1741.328680973426, + -1262.4976153605392, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1741.328680973426, + -1259.4976153605392, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1741.328680973426, + -1256.4976153605392, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1741.328680973426, + -1253.4976153605392, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1741.328680973426, + -1250.4976153605392, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1741.328680973426, + -1247.4976153605392, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1741.328680973426, + -1244.4976153605392, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1741.328680973426, + -1241.4976153605392, + 30.0031003829474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1741.328680973426, + -1238.4976153605392, + 30.0031003829474 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1740.0, + -1212.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-53-14_889575205/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-53-14_889575205/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b3c8f903be95a25095e5438f260616860a293b89 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-53-14_889575205/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 862.8800366651769, + -282.18913564244144, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 865.8800366651769, + -282.18913564244144, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 868.8800366651769, + -282.18913564244144, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 871.8800366651769, + -282.18913564244144, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 874.8800366651769, + -282.18913564244144, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 877.8800366651769, + -282.18913564244144, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 880.8800366651769, + -282.18913564244144, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 883.8800366651769, + -282.18913564244144, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 886.8800366651769, + -282.18913564244144, + 37.53697820849115 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 886.8800366651769, + -282.18913564244144, + 37.53697820849115 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 886.8800366651769, + -282.18913564244144, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 888.3800366651769, + -279.5910594310881, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 889.8800366651769, + -276.9929832197348, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 891.3800366651769, + -274.3949070083815, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 892.8800366651769, + -271.7968307970282, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 894.3800366651769, + -269.19875458567486, + 37.53697820849115 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 894.3800366651769, + -269.19875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 896.9781128765303, + -267.69875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 899.5761890878837, + -266.19875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 902.174265299237, + -264.69875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 904.7723415105904, + -263.19875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 907.3704177219438, + -261.69875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 909.9684939332972, + -260.19875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 912.5665701446505, + -258.69875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 915.1646463560039, + -257.19875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 917.7627225673573, + -255.69875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 920.3607987787107, + -254.19875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 922.958874990064, + -252.69875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 925.5569512014174, + -251.19875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 928.1550274127708, + -249.69875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 930.7531036241242, + -248.19875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 933.3511798354775, + -246.69875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 935.9492560468309, + -245.19875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 938.5473322581843, + -243.69875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 941.1454084695376, + -242.19875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 943.743484680891, + -240.69875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 946.3415608922444, + -239.19875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 948.9396371035978, + -237.69875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 951.5377133149511, + -236.19875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 954.1357895263045, + -234.69875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 956.7338657376579, + -233.19875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 959.3319419490113, + -231.69875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 961.9300181603646, + -230.19875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 964.528094371718, + -228.69875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 967.1261705830714, + -227.19875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 969.7242467944247, + -225.69875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 972.3223230057781, + -224.19875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 974.9203992171315, + -222.69875458567486, + 37.53697820849115 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 977.5184754284849, + -221.19875458567486, + 37.53697820849115 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1004.0, + -208.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-58-3_168488323/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-58-3_168488323/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d8f6afc1c976ba0b456ff755c41d81bf7f948ea --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-58-3_168488323/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 643.5617548061532, + 416.8407074816939, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 642.0617548061532, + 414.2426312703406, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 640.5617548061532, + 411.6445550589873, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 639.0617548061532, + 409.046478847634, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 637.5617548061532, + 406.44840263628066, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 636.0617548061532, + 403.85032642492735, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 634.5617548061532, + 401.25225021357403, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 633.0617548061532, + 398.6541740022207, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 631.5617548061532, + 396.0560977908674, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 630.0617548061532, + 393.4580215795141, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 628.5617548061532, + 390.85994536816077, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 627.0617548061532, + 388.26186915680745, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 625.5617548061532, + 385.66379294545413, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 624.0617548061532, + 383.0657167341008, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 622.5617548061532, + 380.4676405227475, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 621.0617548061532, + 377.8695643113942, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 619.5617548061532, + 375.27148810004087, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 618.0617548061532, + 372.67341188868755, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 616.5617548061532, + 370.07533567733424, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 615.0617548061532, + 367.4772594659809, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 613.5617548061532, + 364.8791832546276, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 612.0617548061532, + 362.2811070432743, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 610.5617548061532, + 359.683030831921, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 609.0617548061532, + 357.08495462056766, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 607.5617548061532, + 354.48687840921434, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 606.0617548061532, + 351.888802197861, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 604.5617548061532, + 349.2907259865077, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 603.0617548061532, + 346.6926497751544, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 601.5617548061532, + 344.0945735638011, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 600.0617548061532, + 341.49649735244776, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 598.5617548061532, + 338.89842114109445, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 597.0617548061532, + 336.30034492974113, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 595.5617548061532, + 333.7022687183878, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 594.0617548061532, + 331.1041925070345, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 592.5617548061532, + 328.5061162956812, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 591.0617548061532, + 325.90804008432787, + 39.34386445894158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 589.5617548061532, + 323.30996387297455, + 39.34386445894158 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.0, + 280.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-58-40_1246447757/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-58-40_1246447757/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..222181687c2bbf9607cd3866f5b87631565033aa --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_23-58-40_1246447757/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -198.32792163877735, + 1520.6829076968136, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -196.82792163877735, + 1523.280983908167, + 37.9020278755373 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -196.82792163877735, + 1523.280983908167, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -194.22984542742404, + 1524.780983908167, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -191.63176921607072, + 1526.280983908167, + 37.9020278755373 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -191.63176921607072, + 1526.280983908167, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -190.13176921607072, + 1528.8790601195203, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -188.63176921607072, + 1531.4771363308737, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -187.13176921607072, + 1534.075212542227, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -185.63176921607072, + 1536.6732887535804, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -184.13176921607072, + 1539.2713649649338, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -182.63176921607072, + 1541.8694411762872, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -181.13176921607072, + 1544.4675173876406, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -179.63176921607072, + 1547.065593598994, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -178.13176921607072, + 1549.6636698103473, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -176.63176921607072, + 1552.2617460217007, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -175.13176921607072, + 1554.859822233054, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -173.63176921607072, + 1557.4578984444074, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -172.13176921607072, + 1560.0559746557608, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -170.63176921607072, + 1562.6540508671142, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -169.13176921607072, + 1565.2521270784675, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -167.63176921607072, + 1567.850203289821, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -166.13176921607072, + 1570.4482795011743, + 37.9020278755373 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -166.13176921607072, + 1570.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -166.13176921607072, + 1573.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -166.13176921607072, + 1576.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -166.13176921607072, + 1579.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -166.13176921607072, + 1582.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -166.13176921607072, + 1585.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -166.13176921607072, + 1588.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -166.13176921607072, + 1591.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -166.13176921607072, + 1594.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -166.13176921607072, + 1597.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -166.13176921607072, + 1600.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -166.13176921607072, + 1603.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -166.13176921607072, + 1606.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -166.13176921607072, + 1609.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -166.13176921607072, + 1612.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -166.13176921607072, + 1615.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -166.13176921607072, + 1618.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -166.13176921607072, + 1621.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -166.13176921607072, + 1624.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -166.13176921607072, + 1627.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -166.13176921607072, + 1630.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -166.13176921607072, + 1633.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -166.13176921607072, + 1636.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -166.13176921607072, + 1639.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -166.13176921607072, + 1642.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -166.13176921607072, + 1645.4482795011743, + 37.9020278755373 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -166.13176921607072, + 1648.4482795011743, + 37.9020278755373 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -160.0, + 1680.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-38-2_1250801052/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-38-2_1250801052/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e5ea7f55e187eb826ea0c119d8604348af50bb5c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-38-2_1250801052/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1749.2646285618234, + 421.1027367901331, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1746.66655235047, + 422.6027367901331, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1744.0684761391167, + 424.1027367901331, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1741.4703999277633, + 425.6027367901331, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1738.87232371641, + 427.1027367901331, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1736.2742475050566, + 428.6027367901331, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1733.6761712937032, + 430.1027367901331, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1731.0780950823498, + 431.6027367901331, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1728.4800188709964, + 433.1027367901331, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1725.881942659643, + 434.6027367901331, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1723.2838664482897, + 436.1027367901331, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1720.6857902369363, + 437.6027367901331, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1718.087714025583, + 439.1027367901331, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1715.4896378142296, + 440.6027367901331, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1712.8915616028762, + 442.1027367901331, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1710.2934853915228, + 443.6027367901331, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1707.6954091801695, + 445.1027367901331, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1705.097332968816, + 446.6027367901331, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1702.4992567574627, + 448.1027367901331, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1699.9011805461093, + 449.6027367901331, + 36.57105573522182 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1699.9011805461093, + 449.6027367901331, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1698.4011805461093, + 452.20081300148644, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1696.9011805461093, + 454.79888921283975, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1695.4011805461093, + 457.39696542419307, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1693.9011805461093, + 459.9950416355464, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1692.4011805461093, + 462.5931178468997, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1690.9011805461093, + 465.191194058253, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1689.4011805461093, + 467.78927026960633, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1687.9011805461093, + 470.38734648095965, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1686.4011805461093, + 472.98542269231297, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1684.9011805461093, + 475.5834989036663, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1683.4011805461093, + 478.1815751150196, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1681.9011805461093, + 480.7796513263729, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1680.4011805461093, + 483.37772753772623, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1678.9011805461093, + 485.97580374907955, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1677.4011805461093, + 488.57387996043286, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1675.9011805461093, + 491.1719561717862, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1674.4011805461093, + 493.7700323831395, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1672.9011805461093, + 496.3681085944928, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1671.4011805461093, + 498.9661848058461, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1669.9011805461093, + 501.56426101719944, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1668.4011805461093, + 504.16233722855276, + 36.57105573522182 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1668.4011805461093, + 504.16233722855276, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1665.803104334756, + 505.66233722855276, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1663.2050281234026, + 507.16233722855276, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1660.6069519120492, + 508.66233722855276, + 36.57105573522182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1658.0088757006959, + 510.16233722855276, + 36.57105573522182 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1640.0, + 524.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-38-41_452825171/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-38-41_452825171/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..86b1cc6b123fb8d0f299becea4ea46486c288a02 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-38-41_452825171/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 151.59050475427338, + 461.61510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 148.99242854292007, + 463.11510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 146.39435233156675, + 464.61510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 143.79627612021343, + 466.11510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 141.19819990886012, + 467.61510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 138.6001236975068, + 469.11510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 136.0020474861535, + 470.61510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 133.40397127480017, + 472.11510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 130.80589506344685, + 473.61510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 128.20781885209354, + 475.11510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 125.60974264074022, + 476.61510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 123.0116664293869, + 478.11510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 120.41359021803359, + 479.61510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 117.81551400668027, + 481.11510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 115.21743779532696, + 482.61510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 112.61936158397364, + 484.11510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 110.02128537262033, + 485.61510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 107.42320916126701, + 487.11510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 104.8251329499137, + 488.61510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 102.22705673856038, + 490.11510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 99.62898052720706, + 491.61510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 97.03090431585375, + 493.11510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 94.43282810450043, + 494.61510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 91.83475189314711, + 496.11510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 89.2366756817938, + 497.61510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 86.63859947044048, + 499.11510752626424, + 35.78558008362849 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 86.63859947044048, + 499.11510752626424, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 85.13859947044048, + 501.71318373761756, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 83.63859947044048, + 504.31125994897087, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 82.13859947044048, + 506.9093361603242, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 80.63859947044048, + 509.5074123716775, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 79.13859947044048, + 512.1054885830308, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 77.63859947044048, + 514.7035647943842, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 76.13859947044048, + 517.3016410057376, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 74.63859947044048, + 519.8997172170909, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 73.13859947044048, + 522.4977934284443, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 71.63859947044048, + 525.0958696397977, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 70.13859947044048, + 527.693945851151, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 68.63859947044048, + 530.2920220625044, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 67.13859947044048, + 532.8900982738578, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 65.63859947044048, + 535.4881744852112, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 64.13859947044048, + 538.0862506965645, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 62.63859947044048, + 540.6843269079179, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 61.13859947044048, + 543.2824031192713, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 59.63859947044048, + 545.8804793306247, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 58.13859947044048, + 548.478555541978, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 56.63859947044048, + 551.0766317533314, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 55.13859947044048, + 553.6747079646848, + 35.78558008362849 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 53.63859947044048, + 556.2727841760382, + 35.78558008362849 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.0, + 576.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-44-12_857490000/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-44-12_857490000/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e06a5d543e51211dabc35d7a1070e94fdd98aec --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-44-12_857490000/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 786.096112020038, + -1641.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 783.4980358086848, + -1643.203643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 780.8999595973314, + -1644.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 778.301883385978, + -1646.203643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 775.7038071746247, + -1647.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 773.1057309632713, + -1649.203643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 770.5076547519179, + -1650.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 767.9095785405646, + -1652.203643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 765.3115023292112, + -1653.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 762.7134261178578, + -1655.203643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 760.1153499065044, + -1656.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 757.5172736951511, + -1658.203643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 754.9191974837977, + -1659.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 752.3211212724443, + -1661.203643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 749.7230450610909, + -1662.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 747.1249688497376, + -1664.203643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 744.5268926383842, + -1665.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 741.9288164270308, + -1667.203643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 739.3307402156775, + -1668.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 736.7326640043241, + -1670.203643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 734.1345877929707, + -1671.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 731.5365115816173, + -1673.203643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 728.938435370264, + -1674.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 726.3403591589106, + -1676.203643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 723.7422829475572, + -1677.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 721.1442067362038, + -1679.203643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 718.5461305248505, + -1680.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 715.9480543134971, + -1682.203643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 713.3499781021437, + -1683.703643102542, + 34.19381726994061 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 713.3499781021437, + -1683.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 710.3499781021437, + -1683.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 707.3499781021437, + -1683.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 704.3499781021437, + -1683.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 701.3499781021437, + -1683.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 698.3499781021437, + -1683.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 695.3499781021437, + -1683.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 692.3499781021437, + -1683.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 689.3499781021437, + -1683.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 686.3499781021437, + -1683.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 683.3499781021437, + -1683.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 680.3499781021437, + -1683.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 677.3499781021437, + -1683.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 674.3499781021437, + -1683.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 671.3499781021437, + -1683.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 668.3499781021437, + -1683.703643102542, + 34.19381726994061 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 665.3499781021437, + -1683.703643102542, + 34.19381726994061 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 624.0, + -1696.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-9-0_410134047/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-9-0_410134047/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..52bd91823a998d879bdbbd3242ab9a325ed39e6a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_3-9-0_410134047/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -543.4178260759962, + -1732.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -543.4178260759962, + -1729.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -543.4178260759962, + -1726.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -543.4178260759962, + -1723.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -543.4178260759962, + -1720.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -543.4178260759962, + -1717.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -543.4178260759962, + -1714.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -543.4178260759962, + -1711.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -543.4178260759962, + -1708.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -543.4178260759962, + -1705.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -543.4178260759962, + -1702.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -543.4178260759962, + -1699.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -543.4178260759962, + -1696.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -543.4178260759962, + -1693.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -543.4178260759962, + -1690.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -543.4178260759962, + -1687.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -543.4178260759962, + -1684.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -543.4178260759962, + -1681.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -543.4178260759962, + -1678.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -543.4178260759962, + -1675.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -543.4178260759962, + -1672.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -543.4178260759962, + -1669.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -543.4178260759962, + -1666.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -543.4178260759962, + -1663.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -543.4178260759962, + -1660.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -543.4178260759962, + -1657.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -543.4178260759962, + -1654.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -543.4178260759962, + -1651.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -543.4178260759962, + -1648.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -543.4178260759962, + -1645.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -543.4178260759962, + -1642.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -543.4178260759962, + -1639.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -543.4178260759962, + -1636.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -543.4178260759962, + -1633.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -543.4178260759962, + -1630.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -543.4178260759962, + -1627.8151013591835, + 32.360237619007066 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -543.4178260759962, + -1627.8151013591835, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -544.9178260759962, + -1625.21702514783, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -546.4178260759962, + -1622.6189489364767, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -547.9178260759962, + -1620.0208727251234, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -549.4178260759962, + -1617.42279651377, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -550.9178260759962, + -1614.8247203024166, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -552.4178260759962, + -1612.2266440910632, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -553.9178260759962, + -1609.6285678797099, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -555.4178260759962, + -1607.0304916683565, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -556.9178260759962, + -1604.4324154570031, + 32.360237619007066 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -556.9178260759962, + -1604.4324154570031, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -556.9178260759962, + -1601.4324154570031, + 32.360237619007066 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -556.9178260759962, + -1598.4324154570031, + 32.360237619007066 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -560.0, + -1572.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-1-25_476152433/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-1-25_476152433/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7ac5a1124eb174e0104b41db513b2ba3b55a1ab --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-1-25_476152433/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1580.9368111965282, + -192.65589587296557, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1579.4368111965282, + -190.05781966161226, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1577.9368111965282, + -187.45974345025894, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1576.4368111965282, + -184.86166723890562, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1574.9368111965282, + -182.2635910275523, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1573.4368111965282, + -179.665514816199, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1571.9368111965282, + -177.06743860484568, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1570.4368111965282, + -174.46936239349236, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1568.9368111965282, + -171.87128618213904, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1567.4368111965282, + -169.27320997078573, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1565.9368111965282, + -166.6751337594324, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1564.4368111965282, + -164.0770575480791, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1562.9368111965282, + -161.47898133672578, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1561.4368111965282, + -158.88090512537246, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1559.9368111965282, + -156.28282891401915, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1558.4368111965282, + -153.68475270266583, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1556.9368111965282, + -151.08667649131252, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1555.4368111965282, + -148.4886002799592, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1553.9368111965282, + -145.89052406860588, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1552.4368111965282, + -143.29244785725257, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1550.9368111965282, + -140.69437164589925, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1549.4368111965282, + -138.09629543454594, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1547.9368111965282, + -135.49821922319262, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1546.4368111965282, + -132.9001430118393, + 36.53759907120558 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1546.4368111965282, + -132.9001430118393, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1543.8387349851748, + -131.4001430118393, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1541.2406587738215, + -129.9001430118393, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1538.642582562468, + -128.4001430118393, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1536.0445063511147, + -126.9001430118393, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1533.4464301397613, + -125.4001430118393, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1530.848353928408, + -123.9001430118393, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1528.2502777170546, + -122.4001430118393, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1525.6522015057012, + -120.9001430118393, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1523.0541252943478, + -119.4001430118393, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1520.4560490829945, + -117.9001430118393, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1517.857972871641, + -116.4001430118393, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1515.2598966602877, + -114.9001430118393, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1512.6618204489343, + -113.4001430118393, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1510.063744237581, + -111.9001430118393, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1507.4656680262276, + -110.4001430118393, + 36.53759907120558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1504.8675918148742, + -108.9001430118393, + 36.53759907120558 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1472.0, + -76.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-49-24_1449228398/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-49-24_1449228398/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..946d8ddf485065de4501033e4b25969ea0d4eaa3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-49-24_1449228398/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1359.9510632717427, + -341.70092340133255, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1359.9510632717427, + -344.70092340133255, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1359.9510632717427, + -347.70092340133255, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1359.9510632717427, + -350.70092340133255, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1359.9510632717427, + -353.70092340133255, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1359.9510632717427, + -356.70092340133255, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1359.9510632717427, + -359.70092340133255, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1359.9510632717427, + -362.70092340133255, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1359.9510632717427, + -365.70092340133255, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1359.9510632717427, + -368.70092340133255, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1359.9510632717427, + -371.70092340133255, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1359.9510632717427, + -374.70092340133255, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1359.9510632717427, + -377.70092340133255, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1359.9510632717427, + -380.70092340133255, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1359.9510632717427, + -383.70092340133255, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1359.9510632717427, + -386.70092340133255, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1359.9510632717427, + -389.70092340133255, + 34.15480689613683 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1359.9510632717427, + -389.70092340133255, + 34.15480689613683 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1359.9510632717427, + -389.70092340133255, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1362.549139483096, + -391.20092340133255, + 34.15480689613683 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1362.549139483096, + -391.20092340133255, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1364.049139483096, + -393.79899961268586, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1365.549139483096, + -396.3970758240392, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1367.049139483096, + -398.9951520353925, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1368.549139483096, + -401.5932282467458, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1370.049139483096, + -404.1913044580991, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1371.549139483096, + -406.78938066945244, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1373.049139483096, + -409.38745688080576, + 34.15480689613683 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1373.049139483096, + -409.38745688080576, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1373.049139483096, + -412.38745688080576, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1373.049139483096, + -415.38745688080576, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1373.049139483096, + -418.38745688080576, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1373.049139483096, + -421.38745688080576, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1373.049139483096, + -424.38745688080576, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1373.049139483096, + -427.38745688080576, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1373.049139483096, + -430.38745688080576, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1373.049139483096, + -433.38745688080576, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1373.049139483096, + -436.38745688080576, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1373.049139483096, + -439.38745688080576, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1373.049139483096, + -442.38745688080576, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1373.049139483096, + -445.38745688080576, + 34.15480689613683 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1373.049139483096, + -445.38745688080576, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1371.549139483096, + -447.9855330921591, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1370.049139483096, + -450.5836093035124, + 34.15480689613683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1368.549139483096, + -453.1816855148657, + 34.15480689613683 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1368.0, + -500.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-53-37_646755199/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-53-37_646755199/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c438d8e464b8ec182f900f70c3f4be9d7527b117 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_4-53-37_646755199/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1094.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1097.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1100.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1103.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1106.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1109.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1112.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1115.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1118.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1121.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1124.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1127.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1130.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1133.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1136.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1139.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1142.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1145.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1148.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1151.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1154.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1157.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1160.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1163.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1166.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1169.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1172.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1175.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1178.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1181.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1184.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1187.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1190.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1193.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1196.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1199.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1202.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1205.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1208.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1211.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1211.387707046167, + -506.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1213.9857832575203, + -508.41862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1216.5838594688737, + -509.91862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1219.181935680227, + -511.41862792767216, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1221.7800118915804, + -512.9186279276721, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": -2.61799387799152 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1224.3780881029338, + -514.4186279276721, + 32.86595672906164 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1226.9761643142872, + -515.9186279276721, + 32.86595672906164 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1256.0, + -516.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-22-2_1402492972/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-22-2_1402492972/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1df57455536e7613c1964d619f545e8cb7d6f2b6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-22-2_1402492972/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 36.41827763099391, + -1461.7485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 33.8202014196406, + -1463.2485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 31.22212520828728, + -1464.7485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 28.624048996933965, + -1466.2485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 26.02597278558065, + -1467.7485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 23.427896574227333, + -1469.2485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 20.829820362874017, + -1470.7485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 18.2317441515207, + -1472.2485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 15.633667940167385, + -1473.7485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 13.035591728814069, + -1475.2485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 10.437515517460753, + -1476.7485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 7.839439306107437, + -1478.2485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 5.241363094754121, + -1479.7485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 2.6432868834008048, + -1481.2485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 0.04521067204748874, + -1482.7485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -2.5528655393058273, + -1484.2485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -5.150941750659143, + -1485.7485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -7.749017962012459, + -1487.2485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -10.347094173365775, + -1488.7485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -12.945170384719091, + -1490.2485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -15.543246596072407, + -1491.7485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -18.141322807425723, + -1493.2485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -20.73939901877904, + -1494.7485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -23.337475230132355, + -1496.2485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -25.93555144148567, + -1497.7485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -28.533627652838987, + -1499.2485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -31.131703864192303, + -1500.7485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -33.72978007554562, + -1502.2485113793057, + 37.37176369798181 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -33.72978007554562, + -1502.2485113793057, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -35.22978007554562, + -1504.846587590659, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -36.72978007554562, + -1507.4446638020124, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -38.22978007554562, + -1510.0427400133658, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -39.72978007554562, + -1512.6408162247192, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -41.22978007554562, + -1515.2388924360725, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -42.72978007554562, + -1517.836968647426, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -44.22978007554562, + -1520.4350448587793, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -45.72978007554562, + -1523.0331210701327, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -47.22978007554562, + -1525.631197281486, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -48.72978007554562, + -1528.2292734928394, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -50.22978007554562, + -1530.8273497041928, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -51.72978007554562, + -1533.4254259155462, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -53.22978007554562, + -1536.0235021268995, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -54.72978007554562, + -1538.621578338253, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -56.22978007554562, + -1541.2196545496063, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -57.72978007554562, + -1543.8177307609596, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -59.22978007554562, + -1546.415806972313, + 37.37176369798181 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -59.22978007554562, + -1546.415806972313, + 37.37176369798181 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -59.22978007554562, + -1546.415806972313, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -62.22978007554562, + -1546.415806972313, + 37.37176369798181 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -65.22978007554562, + -1546.415806972313, + 37.37176369798181 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -80.0, + -1560.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-25-8_737703662/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-25-8_737703662/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba384e7f3f23efa3afb464189692126af1caa5eb --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-25-8_737703662/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1409.4020953029692, + -1363.4327621358198, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1412.0001715143226, + -1364.9327621358198, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1414.598247725676, + -1366.4327621358198, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1417.1963239370293, + -1367.9327621358198, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1419.7944001483827, + -1369.4327621358198, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1422.392476359736, + -1370.9327621358198, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1424.9905525710894, + -1372.4327621358198, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1427.5886287824428, + -1373.9327621358198, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1430.1867049937962, + -1375.4327621358198, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1432.7847812051496, + -1376.9327621358198, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1435.382857416503, + -1378.4327621358198, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1437.9809336278563, + -1379.9327621358198, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1440.5790098392097, + -1381.4327621358198, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1443.177086050563, + -1382.9327621358198, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1445.7751622619164, + -1384.4327621358198, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1448.3732384732698, + -1385.9327621358198, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1450.9713146846232, + -1387.4327621358198, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1453.5693908959765, + -1388.9327621358198, + 37.14934883584819 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1453.5693908959765, + -1388.9327621358198, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1455.0693908959765, + -1391.5308383471731, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1456.5693908959765, + -1394.1289145585265, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1458.0693908959765, + -1396.7269907698799, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1459.5693908959765, + -1399.3250669812332, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1461.0693908959765, + -1401.9231431925866, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1462.5693908959765, + -1404.52121940394, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1464.0693908959765, + -1407.1192956152934, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1465.5693908959765, + -1409.7173718266467, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1467.0693908959765, + -1412.315448038, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1468.5693908959765, + -1414.9135242493535, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1470.0693908959765, + -1417.5116004607069, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1471.5693908959765, + -1420.1096766720602, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1473.0693908959765, + -1422.7077528834136, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1474.5693908959765, + -1425.305829094767, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1476.0693908959765, + -1427.9039053061204, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1477.5693908959765, + -1430.5019815174737, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1479.0693908959765, + -1433.100057728827, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1480.5693908959765, + -1435.6981339401805, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1482.0693908959765, + -1438.2962101515338, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1483.5693908959765, + -1440.8942863628872, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1485.0693908959765, + -1443.4923625742406, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1486.5693908959765, + -1446.090438785594, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1488.0693908959765, + -1448.6885149969473, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1489.5693908959765, + -1451.2865912083007, + 37.14934883584819 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1491.0693908959765, + -1453.884667419654, + 37.14934883584819 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1512.0, + -1480.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-27-22_1887665154/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-27-22_1887665154/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3bc327c419f52508fec925e66895b19c19608aa0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-27-22_1887665154/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1055.074038784124, + 230.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1058.074038784124, + 230.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1061.074038784124, + 230.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1064.074038784124, + 230.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1067.074038784124, + 230.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1070.074038784124, + 230.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1073.074038784124, + 230.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1076.074038784124, + 230.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1079.074038784124, + 230.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1082.074038784124, + 230.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1085.074038784124, + 230.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1088.074038784124, + 230.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1091.074038784124, + 230.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1094.074038784124, + 230.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1097.074038784124, + 230.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1100.074038784124, + 230.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1103.074038784124, + 230.59687820029882, + 39.61023713552447 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1103.074038784124, + 230.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1105.6721149954774, + 232.09687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1108.2701912068308, + 233.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1110.8682674181841, + 235.09687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1113.4663436295375, + 236.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1116.0644198408909, + 238.09687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1118.6624960522443, + 239.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1121.2605722635976, + 241.09687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1123.858648474951, + 242.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1126.4567246863044, + 244.09687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1129.0548008976577, + 245.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1131.6528771090111, + 247.09687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1134.2509533203645, + 248.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1136.8490295317179, + 250.09687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1139.4471057430712, + 251.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1142.0451819544246, + 253.09687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1144.643258165778, + 254.59687820029882, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1147.2413343771314, + 256.0968782002988, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1149.8394105884847, + 257.5968782002988, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1152.437486799838, + 259.0968782002988, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1155.0355630111915, + 260.5968782002988, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1157.6336392225448, + 262.0968782002988, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1160.2317154338982, + 263.5968782002988, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1162.8297916452516, + 265.0968782002988, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1165.427867856605, + 266.5968782002988, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1168.0259440679583, + 268.0968782002988, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1170.6240202793117, + 269.5968782002988, + 39.61023713552447 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1170.6240202793117, + 269.5968782002988, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1173.6240202793117, + 269.5968782002988, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1176.6240202793117, + 269.5968782002988, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1179.6240202793117, + 269.5968782002988, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1182.6240202793117, + 269.5968782002988, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1185.6240202793117, + 269.5968782002988, + 39.61023713552447 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1188.6240202793117, + 269.5968782002988, + 39.61023713552447 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1220.0, + 280.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-29-4_610486506/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-29-4_610486506/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2be2a3013a0f877d80d69f9500cd9ac0819d4ce8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-29-4_610486506/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -305.9593515495117, + -1379.4120542777887, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -305.9593515495117, + -1382.4120542777887, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -305.9593515495117, + -1385.4120542777887, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -305.9593515495117, + -1388.4120542777887, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -305.9593515495117, + -1391.4120542777887, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -305.9593515495117, + -1394.4120542777887, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -305.9593515495117, + -1397.4120542777887, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -305.9593515495117, + -1400.4120542777887, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -305.9593515495117, + -1403.4120542777887, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -305.9593515495117, + -1406.4120542777887, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -305.9593515495117, + -1409.4120542777887, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -305.9593515495117, + -1412.4120542777887, + 36.33621185919579 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -305.9593515495117, + -1412.4120542777887, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -304.4593515495117, + -1415.010130489142, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -302.9593515495117, + -1417.6082067004954, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -301.4593515495117, + -1420.2062829118488, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -299.9593515495117, + -1422.8043591232022, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -298.4593515495117, + -1425.4024353345555, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -296.9593515495117, + -1428.000511545909, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -295.4593515495117, + -1430.5985877572623, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -293.9593515495117, + -1433.1966639686157, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -292.4593515495117, + -1435.794740179969, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -290.9593515495117, + -1438.3928163913224, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -289.4593515495117, + -1440.9908926026758, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -287.9593515495117, + -1443.5889688140292, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -286.4593515495117, + -1446.1870450253825, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -284.9593515495117, + -1448.785121236736, + 36.33621185919579 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -284.9593515495117, + -1448.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -284.9593515495117, + -1451.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -284.9593515495117, + -1454.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -284.9593515495117, + -1457.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -284.9593515495117, + -1460.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -284.9593515495117, + -1463.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -284.9593515495117, + -1466.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -284.9593515495117, + -1469.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -284.9593515495117, + -1472.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -284.9593515495117, + -1475.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -284.9593515495117, + -1478.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -284.9593515495117, + -1481.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -284.9593515495117, + -1484.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -284.9593515495117, + -1487.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -284.9593515495117, + -1490.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -284.9593515495117, + -1493.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -284.9593515495117, + -1496.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -284.9593515495117, + -1499.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -284.9593515495117, + -1502.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -284.9593515495117, + -1505.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -284.9593515495117, + -1508.785121236736, + 36.33621185919579 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -284.9593515495117, + -1511.785121236736, + 36.33621185919579 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -280.0, + -1536.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-46-25_900104667/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-46-25_900104667/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10d47922ccf1841a254c82928fe17dc71ffb681d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-46-25_900104667/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 590.9608375362864, + 1075.6314820517848, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 592.4608375362864, + 1073.0334058404314, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 593.9608375362864, + 1070.435329629078, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 595.4608375362864, + 1067.8372534177247, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 596.9608375362864, + 1065.2391772063713, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 598.4608375362864, + 1062.641100995018, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 599.9608375362864, + 1060.0430247836646, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 601.4608375362864, + 1057.4449485723112, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 602.9608375362864, + 1054.8468723609578, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 604.4608375362864, + 1052.2487961496045, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 605.9608375362864, + 1049.650719938251, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 607.4608375362864, + 1047.0526437268977, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 608.9608375362864, + 1044.4545675155443, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 610.4608375362864, + 1041.856491304191, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 611.9608375362864, + 1039.2584150928376, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 613.4608375362864, + 1036.6603388814842, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 614.9608375362864, + 1034.0622626701308, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 616.4608375362864, + 1031.4641864587775, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 617.9608375362864, + 1028.866110247424, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 619.4608375362864, + 1026.2680340360707, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 620.9608375362864, + 1023.6699578247174, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 622.4608375362864, + 1021.071881613364, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 623.9608375362864, + 1018.4738054020106, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 625.4608375362864, + 1015.8757291906572, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 626.9608375362864, + 1013.2776529793039, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 628.4608375362864, + 1010.6795767679505, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 629.9608375362864, + 1008.0815005565971, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 631.4608375362864, + 1005.4834243452437, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 632.9608375362864, + 1002.8853481338904, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 634.4608375362864, + 1000.287271922537, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 635.9608375362864, + 997.6891957111836, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 637.4608375362864, + 995.0911194998303, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 638.9608375362864, + 992.4930432884769, + 32.59771182283447 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 638.9608375362864, + 992.4930432884769, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 638.9608375362864, + 989.4930432884769, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 638.9608375362864, + 986.4930432884769, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 638.9608375362864, + 983.4930432884769, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 638.9608375362864, + 980.4930432884769, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 638.9608375362864, + 977.4930432884769, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 638.9608375362864, + 974.4930432884769, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 638.9608375362864, + 971.4930432884769, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 638.9608375362864, + 968.4930432884769, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 638.9608375362864, + 965.4930432884769, + 32.59771182283447 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 638.9608375362864, + 965.4930432884769, + 32.59771182283447 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 638.9608375362864, + 965.4930432884769, + 32.59771182283447 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 641.5589137476397, + 963.9930432884769, + 32.59771182283447 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982989 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 656.0, + 936.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-48-9_1671581032/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-48-9_1671581032/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08f41be86261497e24415d624d68b0abdce47b2f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_5-48-9_1671581032/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1738.852947597515, + -761.626652334039, + 38.84332156402606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1741.4510238088683, + -763.126652334039, + 38.84332156402606 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1741.4510238088683, + -763.126652334039, + 38.84332156402606 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1744.4510238088683, + -763.126652334039, + 38.84332156402606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1747.4510238088683, + -763.126652334039, + 38.84332156402606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1750.4510238088683, + -763.126652334039, + 38.84332156402606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1753.4510238088683, + -763.126652334039, + 38.84332156402606 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1753.4510238088683, + -763.126652334039, + 38.84332156402606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1756.0491000202217, + -764.626652334039, + 38.84332156402606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1758.647176231575, + -766.126652334039, + 38.84332156402606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1761.2452524429284, + -767.626652334039, + 38.84332156402606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1763.8433286542818, + -769.126652334039, + 38.84332156402606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1766.4414048656351, + -770.626652334039, + 38.84332156402606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1769.0394810769885, + -772.126652334039, + 38.84332156402606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1771.637557288342, + -773.626652334039, + 38.84332156402606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1774.2356334996953, + -775.126652334039, + 38.84332156402606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1776.8337097110486, + -776.626652334039, + 38.84332156402606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1779.431785922402, + -778.126652334039, + 38.84332156402606 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1904.0, + -820.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-55-0_311269559/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-55-0_311269559/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84dc07a5404d05d6fd1f55b9ccdbc8b7deae9d04 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_6-55-0_311269559/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1178.5280998083897, + -18.285969118025136, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1181.126176019743, + -16.785969118025136, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1183.7242522310964, + -15.285969118025136, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1186.3223284424498, + -13.785969118025136, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1188.9204046538032, + -12.285969118025136, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1191.5184808651566, + -10.785969118025136, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1194.11655707651, + -9.285969118025136, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1196.7146332878633, + -7.785969118025136, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1199.3127094992167, + -6.285969118025136, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1201.91078571057, + -4.785969118025136, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1204.5088619219234, + -3.285969118025136, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1207.1069381332768, + -1.7859691180251362, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1209.7050143446302, + -0.28596911802513647, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1212.3030905559835, + 1.2140308819748633, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1214.901166767337, + 2.714030881974863, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1217.4992429786903, + 4.214030881974863, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1220.0973191900437, + 5.714030881974863, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1222.695395401397, + 7.214030881974863, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1225.2934716127504, + 8.714030881974862, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1227.8915478241038, + 10.214030881974862, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1230.4896240354572, + 11.714030881974862, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1233.0877002468105, + 13.214030881974862, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1235.685776458164, + 14.714030881974862, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1238.2838526695173, + 16.21403088197486, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1240.8819288808706, + 17.71403088197486, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1243.480005092224, + 19.21403088197486, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1246.0780813035774, + 20.71403088197486, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1248.6761575149308, + 22.21403088197486, + 30.786921685671768 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1248.6761575149308, + 22.21403088197486, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1251.6761575149308, + 22.21403088197486, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1254.6761575149308, + 22.21403088197486, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1257.6761575149308, + 22.21403088197486, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1260.6761575149308, + 22.21403088197486, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1263.6761575149308, + 22.21403088197486, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1266.6761575149308, + 22.21403088197486, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1269.6761575149308, + 22.21403088197486, + 30.786921685671768 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1269.6761575149308, + 22.21403088197486, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1272.2742337262841, + 23.71403088197486, + 30.786921685671768 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1274.8723099376375, + 25.21403088197486, + 30.786921685671768 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1328.0, + 48.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-34-33_532495011/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-34-33_532495011/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44ad6d5ec49d9b481a4392647e9d2f3103e02ed8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-34-33_532495011/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1184.3853471626278, + 287.19597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1186.9834233739812, + 285.69597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1189.5814995853345, + 284.19597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1192.179575796688, + 282.69597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1194.7776520080413, + 281.19597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1197.3757282193947, + 279.69597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1199.973804430748, + 278.19597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1202.5718806421014, + 276.69597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1205.1699568534548, + 275.19597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1207.7680330648082, + 273.69597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1210.3661092761615, + 272.19597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1212.964185487515, + 270.69597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1215.5622616988683, + 269.19597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1218.1603379102216, + 267.69597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1220.758414121575, + 266.19597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1223.3564903329284, + 264.69597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1225.9545665442818, + 263.19597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1228.5526427556351, + 261.69597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1231.1507189669885, + 260.19597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1233.7487951783419, + 258.69597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1236.3468713896953, + 257.19597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1238.9449476010486, + 255.69597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1241.543023812402, + 254.19597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1244.1411000237554, + 252.69597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1246.7391762351087, + 251.19597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1249.3372524464621, + 249.69597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1251.9353286578155, + 248.19597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1254.5334048691689, + 246.69597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1257.1314810805222, + 245.19597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1259.7295572918756, + 243.69597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1262.327633503229, + 242.19597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1264.9257097145824, + 240.69597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1267.5237859259357, + 239.19597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1270.121862137289, + 237.69597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1272.7199383486425, + 236.19597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1275.3180145599958, + 234.69597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1277.9160907713492, + 233.19597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1280.5141669827026, + 231.69597577237244, + 38.227516854574205 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1280.5141669827026, + 231.69597577237244, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1282.0141669827026, + 229.09789956101912, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1283.5141669827026, + 226.4998233496658, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1285.0141669827026, + 223.9017471383125, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1286.5141669827026, + 221.30367092695917, + 38.227516854574205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1288.0141669827026, + 218.70559471560586, + 38.227516854574205 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1324.0, + 196.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-52-31_660916487/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-52-31_660916487/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0298af52e11d2d0c994b16cd9097e6c1444d166c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_7-52-31_660916487/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 759.8884819520944, + -1620.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 759.8884819520944, + -1623.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 759.8884819520944, + -1626.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 759.8884819520944, + -1629.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 759.8884819520944, + -1632.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 759.8884819520944, + -1635.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 759.8884819520944, + -1638.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 759.8884819520944, + -1641.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 759.8884819520944, + -1644.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 759.8884819520944, + -1647.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 759.8884819520944, + -1650.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 759.8884819520944, + -1653.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 759.8884819520944, + -1656.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 759.8884819520944, + -1659.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 759.8884819520944, + -1662.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 759.8884819520944, + -1665.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 759.8884819520944, + -1668.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 759.8884819520944, + -1671.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 759.8884819520944, + -1674.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 759.8884819520944, + -1677.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 759.8884819520944, + -1680.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 759.8884819520944, + -1683.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 759.8884819520944, + -1686.6545981119184, + 30.333935573699634 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 759.8884819520944, + -1686.6545981119184, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 761.3884819520944, + -1689.2526743232718, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 762.8884819520944, + -1691.8507505346251, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 764.3884819520944, + -1694.4488267459785, + 30.333935573699634 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 764.3884819520944, + -1694.4488267459785, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 764.3884819520944, + -1697.4488267459785, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 764.3884819520944, + -1700.4488267459785, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 764.3884819520944, + -1703.4488267459785, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 764.3884819520944, + -1706.4488267459785, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 764.3884819520944, + -1709.4488267459785, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 764.3884819520944, + -1712.4488267459785, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 764.3884819520944, + -1715.4488267459785, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 764.3884819520944, + -1718.4488267459785, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 764.3884819520944, + -1721.4488267459785, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 764.3884819520944, + -1724.4488267459785, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 764.3884819520944, + -1727.4488267459785, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 764.3884819520944, + -1730.4488267459785, + 30.333935573699634 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 764.3884819520944, + -1730.4488267459785, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 762.8884819520944, + -1733.046902957332, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 761.3884819520944, + -1735.6449791686853, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 759.8884819520944, + -1738.2430553800386, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 758.3884819520944, + -1740.841131591392, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 756.8884819520944, + -1743.4392078027454, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 755.3884819520944, + -1746.0372840140988, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 753.8884819520944, + -1748.6353602254521, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 752.3884819520944, + -1751.2334364368055, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 750.8884819520944, + -1753.8315126481589, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 749.3884819520944, + -1756.4295888595123, + 30.333935573699634 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 749.3884819520944, + -1756.4295888595123, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 749.3884819520944, + -1759.4295888595123, + 30.333935573699634 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 749.3884819520944, + -1762.4295888595123, + 30.333935573699634 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 748.0, + -1780.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_8-59-29_1663568111/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_8-59-29_1663568111/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..024d7174638402557be865e52ffefd25b0222543 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_8-59-29_1663568111/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 918.9993680445709, + 425.2093067155695, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 920.4993680445709, + 427.8073829269228, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 921.9993680445709, + 430.4054591382761, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 923.4993680445709, + 433.00353534962943, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 924.9993680445709, + 435.60161156098275, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 926.4993680445709, + 438.19968777233606, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 927.9993680445709, + 440.7977639836894, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 929.4993680445709, + 443.3958401950427, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 930.9993680445709, + 445.993916406396, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 932.4993680445709, + 448.5919926177493, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 933.9993680445709, + 451.19006882910264, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 935.4993680445709, + 453.78814504045596, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 936.9993680445709, + 456.3862212518093, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 938.4993680445709, + 458.9842974631626, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 939.9993680445709, + 461.5823736745159, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 941.4993680445709, + 464.1804498858692, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 942.9993680445709, + 466.77852609722254, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 944.4993680445709, + 469.37660230857585, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 945.9993680445709, + 471.97467851992917, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 947.4993680445709, + 474.5727547312825, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 948.9993680445709, + 477.1708309426358, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 950.4993680445709, + 479.7689071539891, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 951.9993680445709, + 482.36698336534243, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 953.4993680445709, + 484.96505957669575, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 954.9993680445709, + 487.56313578804907, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 956.4993680445709, + 490.1612119994024, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 957.9993680445709, + 492.7592882107557, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 959.4993680445709, + 495.357364422109, + 34.3526370688231 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 959.4993680445709, + 495.357364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 962.0974442559243, + 496.857364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 964.6955204672777, + 498.357364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 967.293596678631, + 499.857364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 969.8916728899844, + 501.357364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 972.4897491013378, + 502.857364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 975.0878253126912, + 504.357364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 977.6859015240445, + 505.857364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 980.2839777353979, + 507.357364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 982.8820539467513, + 508.857364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 985.4801301581047, + 510.357364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 988.078206369458, + 511.857364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 990.6762825808114, + 513.357364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598273 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 993.2743587921648, + 514.857364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 995.8724350035181, + 516.357364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 998.4705112148715, + 517.857364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1001.0685874262249, + 519.357364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1003.6666636375783, + 520.857364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1006.2647398489316, + 522.357364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1008.862816060285, + 523.857364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1011.4608922716384, + 525.357364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1014.0589684829918, + 526.857364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1016.6570446943451, + 528.357364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1019.2551209056985, + 529.857364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1021.8531971170519, + 531.357364422109, + 34.3526370688231 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1021.8531971170519, + 531.357364422109, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1023.3531971170519, + 533.9554406334623, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1024.8531971170519, + 536.5535168448157, + 34.3526370688231 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1026.3531971170519, + 539.1515930561691, + 34.3526370688231 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1040.0, + 556.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-13-30_1018041598/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-13-30_1018041598/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1bfa0a289503bd4ad2a522c89c2177f7ce6ef351 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-13-30_1018041598/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1709.7397065249395, + -1067.4759745857227, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1712.7397065249395, + -1067.4759745857227, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1715.7397065249395, + -1067.4759745857227, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1718.7397065249395, + -1067.4759745857227, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1721.7397065249395, + -1067.4759745857227, + 38.83433988270251 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1721.7397065249395, + -1067.4759745857227, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1724.3377827362929, + -1065.9759745857227, + 38.83433988270251 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1724.3377827362929, + -1065.9759745857227, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1725.8377827362929, + -1063.3778983743694, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1727.3377827362929, + -1060.779822163016, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1728.8377827362929, + -1058.1817459516626, + 38.83433988270251 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1728.8377827362929, + -1058.1817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1731.4358589476462, + -1056.6817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1734.0339351589996, + -1055.1817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1736.632011370353, + -1053.6817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1739.2300875817064, + -1052.1817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1741.8281637930597, + -1050.6817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1744.426240004413, + -1049.1817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1747.0243162157665, + -1047.6817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1749.6223924271198, + -1046.1817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1752.2204686384732, + -1044.6817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1754.8185448498266, + -1043.1817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1757.41662106118, + -1041.6817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1760.0146972725333, + -1040.1817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1762.6127734838867, + -1038.6817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1765.21084969524, + -1037.1817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1767.8089259065935, + -1035.6817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1770.4070021179468, + -1034.1817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1773.0050783293002, + -1032.6817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1775.6031545406536, + -1031.1817459516626, + 38.83433988270251 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1775.6031545406536, + -1031.1817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1778.6031545406536, + -1031.1817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1781.6031545406536, + -1031.1817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1784.6031545406536, + -1031.1817459516626, + 38.83433988270251 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1787.6031545406536, + -1031.1817459516626, + 38.83433988270251 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1864.0, + -992.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-2-47_44470216/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-2-47_44470216/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..515da2f49bc2885346b3a8bcb2977ea36e2a05aa --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-2-47_44470216/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1017.1523387248803, + -882.5234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1019.7504149362337, + -881.0234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1022.3484911475871, + -879.5234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1024.9465673589405, + -878.0234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1027.5446435702938, + -876.5234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1030.1427197816472, + -875.0234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1032.7407959930006, + -873.5234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1035.338872204354, + -872.0234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1037.9369484157073, + -870.5234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1040.5350246270607, + -869.0234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1043.133100838414, + -867.5234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1045.7311770497674, + -866.0234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1048.3292532611208, + -864.5234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1050.9273294724742, + -863.0234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1053.5254056838276, + -861.5234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1056.123481895181, + -860.0234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1058.7215581065343, + -858.5234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1061.3196343178877, + -857.0234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1063.917710529241, + -855.5234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1066.5157867405944, + -854.0234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1069.1138629519478, + -852.5234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1071.7119391633012, + -851.0234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1074.3100153746545, + -849.5234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1076.908091586008, + -848.0234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1079.5061677973613, + -846.5234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1082.1042440087147, + -845.0234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1084.702320220068, + -843.5234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1087.3003964314214, + -842.0234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1089.8984726427748, + -840.5234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1092.4965488541282, + -839.0234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1095.0946250654815, + -837.5234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1097.692701276835, + -836.0234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1100.2907774881883, + -834.5234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1102.8888536995416, + -833.0234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1105.486929910895, + -831.5234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1108.0850061222484, + -830.0234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1110.6830823336018, + -828.5234678142426, + 30.39443609744715 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1110.6830823336018, + -828.5234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1113.6830823336018, + -828.5234678142426, + 30.39443609744715 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1113.6830823336018, + -828.5234678142426, + 30.39443609744715 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1113.6830823336018, + -828.5234678142426, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1115.1830823336018, + -825.9253916028892, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1116.6830823336018, + -823.3273153915359, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1118.1830823336018, + -820.7292391801825, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1119.6830823336018, + -818.1311629688291, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1121.1830823336018, + -815.5330867574758, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1122.6830823336018, + -812.9350105461224, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1124.1830823336018, + -810.336934334769, + 30.39443609744715 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1125.6830823336018, + -807.7388581234156, + 30.39443609744715 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1148.0, + -792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-20-47_1702022939/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-20-47_1702022939/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a6a59cb6b916e954e744084f59c0cbbdd3a1ef4d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-20-47_1702022939/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1336.357730034542, + -754.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1333.7596538231887, + -753.0253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1331.1615776118354, + -751.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1328.563501400482, + -750.0253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1325.9654251891286, + -748.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1323.3673489777752, + -747.0253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1320.7692727664219, + -745.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1318.1711965550685, + -744.0253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1315.5731203437151, + -742.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1312.9750441323617, + -741.0253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1310.3769679210084, + -739.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1307.778891709655, + -738.0253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1305.1808154983016, + -736.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1302.5827392869483, + -735.0253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1299.9846630755949, + -733.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1297.3865868642415, + -732.0253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1294.7885106528881, + -730.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1292.1904344415348, + -729.0253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1289.5923582301814, + -727.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1286.994282018828, + -726.0253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1284.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1284.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1281.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1278.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1275.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1272.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1269.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1266.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1263.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1260.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1257.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1254.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1251.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1248.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1245.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1242.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1239.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1236.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1233.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1230.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1227.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1224.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1221.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1218.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1218.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1218.3962058074746, + -724.5253901343483, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1216.8962058074746, + -721.9273139229949, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1215.3962058074746, + -719.3292377116416, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1213.8962058074746, + -716.7311615002882, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1212.3962058074746, + -714.1330852889348, + 39.71588629248164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1210.8962058074746, + -711.5350090775814, + 39.71588629248164 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1184.0, + -704.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-25-25_928682751/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-25-25_928682751/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60247bbdd460380cc16196e443f2b4f21adee0f6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-25-25_928682751/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1161.791593425497, + 264.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1164.3896696368504, + 262.5650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1166.9877458482038, + 261.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1169.5858220595571, + 259.5650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1172.1838982709105, + 258.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1174.7819744822639, + 256.5650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1177.3800506936172, + 255.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1179.9781269049706, + 253.5650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1182.576203116324, + 252.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1185.1742793276774, + 250.5650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1187.7723555390307, + 249.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1190.3704317503841, + 247.5650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1192.9685079617375, + 246.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1195.5665841730909, + 244.5650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1198.1646603844442, + 243.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1200.7627365957976, + 241.5650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1203.360812807151, + 240.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1205.9588890185044, + 238.5650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1208.5569652298577, + 237.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1211.155041441211, + 235.5650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1213.7531176525645, + 234.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1216.3511938639178, + 232.5650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1218.9492700752712, + 231.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1221.5473462866246, + 229.5650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1224.145422497978, + 228.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1226.7434987093313, + 226.5650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1229.3415749206847, + 225.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1231.939651132038, + 223.5650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1234.5377273433915, + 222.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1237.1358035547448, + 220.5650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1239.7338797660982, + 219.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1242.3319559774516, + 217.5650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1244.930032188805, + 216.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1247.5281084001583, + 214.5650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1250.1261846115117, + 213.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1252.724260822865, + 211.5650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1255.3223370342184, + 210.0650795689233, + 33.379553944135736 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1255.3223370342184, + 210.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1258.3223370342184, + 210.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1261.3223370342184, + 210.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1264.3223370342184, + 210.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1267.3223370342184, + 210.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1270.3223370342184, + 210.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1273.3223370342184, + 210.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1276.3223370342184, + 210.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1279.3223370342184, + 210.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1282.3223370342184, + 210.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1285.3223370342184, + 210.0650795689233, + 33.379553944135736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1288.3223370342184, + 210.0650795689233, + 33.379553944135736 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1324.0, + 196.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-4-7_2037335344/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-4-7_2037335344/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac263b0ef91fcaf274bddc9dd83c5b5874fde68f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-4-7_2037335344/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1638.399318512153, + -177.61054859393826, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1639.899318512153, + -175.01247238258495, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1641.399318512153, + -172.41439617123163, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1642.899318512153, + -169.8163199598783, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1644.399318512153, + -167.218243748525, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1645.899318512153, + -164.62016753717168, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1647.399318512153, + -162.02209132581837, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1648.899318512153, + -159.42401511446505, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1650.399318512153, + -156.82593890311173, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1651.899318512153, + -154.22786269175842, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1653.399318512153, + -151.6297864804051, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1654.899318512153, + -149.03171026905179, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1656.399318512153, + -146.43363405769847, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1657.899318512153, + -143.83555784634515, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1659.399318512153, + -141.23748163499184, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1660.899318512153, + -138.63940542363852, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1662.399318512153, + -136.0413292122852, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1663.899318512153, + -133.4432530009319, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1665.399318512153, + -130.84517678957857, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1666.899318512153, + -128.24710057822526, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1668.399318512153, + -125.64902436687194, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1669.899318512153, + -123.05094815551863, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1671.399318512153, + -120.45287194416531, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1672.899318512153, + -117.854795732812, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1674.399318512153, + -115.25671952145868, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1675.899318512153, + -112.65864331010536, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1677.399318512153, + -110.06056709875205, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1678.899318512153, + -107.46249088739873, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1680.399318512153, + -104.86441467604541, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1681.899318512153, + -102.2663384646921, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1683.399318512153, + -99.66826225333878, + 37.23665249608658 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1683.399318512153, + -99.66826225333878, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1683.399318512153, + -96.66826225333878, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1683.399318512153, + -93.66826225333878, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1683.399318512153, + -90.66826225333878, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1683.399318512153, + -87.66826225333878, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1683.399318512153, + -84.66826225333878, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1683.399318512153, + -81.66826225333878, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1683.399318512153, + -78.66826225333878, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1683.399318512153, + -75.66826225333878, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1683.399318512153, + -72.66826225333878, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1683.399318512153, + -69.66826225333878, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1683.399318512153, + -66.66826225333878, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1683.399318512153, + -63.66826225333878, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1683.399318512153, + -60.66826225333878, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1683.399318512153, + -57.66826225333878, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1683.399318512153, + -54.66826225333878, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1683.399318512153, + -51.66826225333878, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1683.399318512153, + -48.66826225333878, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1683.399318512153, + -45.66826225333878, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1683.399318512153, + -42.66826225333878, + 37.23665249608658 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1683.399318512153, + -39.66826225333878, + 37.23665249608658 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1692.0, + -8.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-42-50_306851320/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-42-50_306851320/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e62a3ef95c1d177d5b615110d61cd1789fa40767 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-2_9-42-50_306851320/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 832.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 835.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 838.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 841.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 844.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 847.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 850.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 853.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 856.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 859.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 862.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 865.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 868.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 871.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 874.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 877.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 880.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 883.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 886.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 889.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 892.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 895.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 898.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 901.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 904.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 907.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 910.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 913.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 916.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 919.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 922.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 925.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 928.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 931.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 934.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 937.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 940.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 943.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 943.6087336049761, + 162.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 946.2068098163295, + 163.5992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 948.8048860276829, + 165.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 951.4029622390362, + 166.5992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 954.0010384503896, + 168.0992262381777, + 32.83811355813931 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 956.599114661743, + 169.5992262381777, + 32.83811355813931 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1000.0, + 172.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-0-1_2122533302/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-0-1_2122533302/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..27f7b760a140446a71bb0909be2c93ce8d61faac --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-0-1_2122533302/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1757.222175503614, + -373.449360806694, + 30.88531065518075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1760.222175503614, + -373.449360806694, + 30.88531065518075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1763.222175503614, + -373.449360806694, + 30.88531065518075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1766.222175503614, + -373.449360806694, + 30.88531065518075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1769.222175503614, + -373.449360806694, + 30.88531065518075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1772.222175503614, + -373.449360806694, + 30.88531065518075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1775.222175503614, + -373.449360806694, + 30.88531065518075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1778.222175503614, + -373.449360806694, + 30.88531065518075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1781.222175503614, + -373.449360806694, + 30.88531065518075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1784.222175503614, + -373.449360806694, + 30.88531065518075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1787.222175503614, + -373.449360806694, + 30.88531065518075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1790.222175503614, + -373.449360806694, + 30.88531065518075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1793.222175503614, + -373.449360806694, + 30.88531065518075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1796.222175503614, + -373.449360806694, + 30.88531065518075 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1796.222175503614, + -373.449360806694, + 30.88531065518075 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1798.8202517149673, + -374.949360806694, + 30.88531065518075 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1801.4183279263207, + -376.449360806694, + 30.88531065518075 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1916.0, + -388.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-11-41_659347223/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-11-41_659347223/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1df41f3452e3900385d74bcb359afbabcbba145d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-11-41_659347223/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1776.6977589938983, + 1343.64756842581, + 31.453015080166278 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1779.6977589938983, + 1343.64756842581, + 31.453015080166278 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1782.6977589938983, + 1343.64756842581, + 31.453015080166278 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1785.6977589938983, + 1343.64756842581, + 31.453015080166278 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1788.6977589938983, + 1343.64756842581, + 31.453015080166278 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1791.6977589938983, + 1343.64756842581, + 31.453015080166278 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1794.6977589938983, + 1343.64756842581, + 31.453015080166278 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1797.6977589938983, + 1343.64756842581, + 31.453015080166278 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1800.6977589938983, + 1343.64756842581, + 31.453015080166278 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1940.0, + 1328.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-19-15_1514722040/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-19-15_1514722040/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0948763b80f1e2312bfd69321b9f26b8c98545fb --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-19-15_1514722040/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1786.3665231241757, + -981.186823377333, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1786.3665231241757, + -978.186823377333, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1786.3665231241757, + -975.186823377333, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1786.3665231241757, + -972.186823377333, + 35.44674083170456 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1786.3665231241757, + -972.186823377333, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1784.8665231241757, + -969.5887471659796, + 35.44674083170456 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1784.8665231241757, + -969.5887471659796, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1782.2684469128224, + -968.0887471659796, + 35.44674083170456 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1782.2684469128224, + -968.0887471659796, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1780.7684469128224, + -965.4906709546262, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1779.2684469128224, + -962.8925947432729, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1777.7684469128224, + -960.2945185319195, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1776.2684469128224, + -957.6964423205661, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1774.7684469128224, + -955.0983661092127, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1773.2684469128224, + -952.5002898978594, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1771.7684469128224, + -949.902213686506, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1770.2684469128224, + -947.3041374751526, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1768.7684469128224, + -944.7060612637993, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1767.2684469128224, + -942.1079850524459, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1765.7684469128224, + -939.5099088410925, + 35.44674083170456 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1765.7684469128224, + -939.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1765.7684469128224, + -936.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1765.7684469128224, + -933.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1765.7684469128224, + -930.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1765.7684469128224, + -927.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1765.7684469128224, + -924.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1765.7684469128224, + -921.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1765.7684469128224, + -918.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1765.7684469128224, + -915.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1765.7684469128224, + -912.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1765.7684469128224, + -909.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1765.7684469128224, + -906.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1765.7684469128224, + -903.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1765.7684469128224, + -900.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1765.7684469128224, + -897.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1765.7684469128224, + -894.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1765.7684469128224, + -891.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1765.7684469128224, + -888.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1765.7684469128224, + -885.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1765.7684469128224, + -882.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1765.7684469128224, + -879.5099088410925, + 35.44674083170456 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1765.7684469128224, + -879.5099088410925, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1767.2684469128224, + -876.9118326297391, + 35.44674083170456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1768.7684469128224, + -874.3137564183858, + 35.44674083170456 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1764.0, + -832.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-24-21_1376108019/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-24-21_1376108019/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53439f466b46e9c900b49f1ce85d4472cdfb82a0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-24-21_1376108019/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -895.1259459308974, + -237.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -897.7240221422508, + -238.9940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -900.3220983536041, + -240.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -902.9201745649575, + -241.9940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -905.5182507763109, + -243.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -908.1163269876643, + -244.9940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -910.7144031990176, + -246.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -913.312479410371, + -247.9940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -915.9105556217244, + -249.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -918.5086318330777, + -250.9940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -921.1067080444311, + -252.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -923.7047842557845, + -253.9940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -926.3028604671379, + -255.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -928.9009366784912, + -256.9940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -931.4990128898446, + -258.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -934.097089101198, + -259.9940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -936.6951653125514, + -261.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -939.2932415239047, + -262.9940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -941.8913177352581, + -264.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -944.4893939466115, + -265.9940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -947.0874701579648, + -267.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -949.6855463693182, + -268.9940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -952.2836225806716, + -270.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -954.881698792025, + -271.9940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -957.4797750033783, + -273.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -960.0778512147317, + -274.9940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -962.6759274260851, + -276.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -965.2740036374385, + -277.9940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -967.8720798487918, + -279.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -970.4701560601452, + -280.9940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -973.0682322714986, + -282.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -975.666308482852, + -283.9940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -978.2643846942053, + -285.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -980.8624609055587, + -286.9940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -983.4605371169121, + -288.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -986.0586133282654, + -289.9940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -988.6566895396188, + -291.4940041920741, + 37.63029884920581 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -988.6566895396188, + -291.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -991.6566895396188, + -291.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -994.6566895396188, + -291.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -997.6566895396188, + -291.4940041920741, + 37.63029884920581 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1000.6566895396188, + -291.4940041920741, + 37.63029884920581 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1040.0, + -312.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-35-43_513912055/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-35-43_513912055/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a50fbe6d0c1c9cd0383c7ac4d9851ba17404099 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-35-43_513912055/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -906.950280857673, + -941.9917028484325, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -908.450280857673, + -944.5897790597858, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -909.950280857673, + -947.1878552711391, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -911.450280857673, + -949.7859314824925, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -912.950280857673, + -952.3840076938459, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -914.450280857673, + -954.9820839051993, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -915.950280857673, + -957.5801601165526, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -917.450280857673, + -960.178236327906, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -918.950280857673, + -962.7763125392594, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -920.450280857673, + -965.3743887506128, + 30.809054768242245 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -920.450280857673, + -965.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -923.0483570690262, + -966.8743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -925.6464332803796, + -968.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -928.244509491733, + -969.8743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -930.8425857030863, + -971.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -933.4406619144397, + -972.8743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -936.0387381257931, + -974.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -938.6368143371465, + -975.8743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -941.2348905484998, + -977.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -943.8329667598532, + -978.8743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -946.4310429712066, + -980.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -949.02911918256, + -981.8743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -951.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -951.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -954.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -957.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -960.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -963.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -966.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -969.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -972.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -975.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -978.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -981.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -984.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -987.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -990.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -993.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -996.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -999.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1002.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1005.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1008.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1008.6271953939133, + -983.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1011.2252716052667, + -984.8743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -1013.8233478166201, + -986.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -1016.4214240279734, + -987.8743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -1019.0195002393268, + -989.3743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -1021.6175764506802, + -990.8743887506128, + 30.809054768242245 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -1024.2156526620336, + -992.3743887506128, + 30.809054768242245 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1048.0, + -1004.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-36-35_8285608/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-36-35_8285608/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f261217e249983747b928a8ec482e256bd7dfad --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-36-35_8285608/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 269.5156141049618, + -415.95302726424666, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 272.5156141049618, + -415.95302726424666, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 275.5156141049618, + -415.95302726424666, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 278.5156141049618, + -415.95302726424666, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 281.5156141049618, + -415.95302726424666, + 36.14380915549614 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 281.5156141049618, + -415.95302726424666, + 36.14380915549614 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 281.5156141049618, + -415.95302726424666, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 283.0156141049618, + -418.5511034756, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 284.5156141049618, + -421.1491796869533, + 36.14380915549614 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 284.5156141049618, + -421.1491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 287.1136903163151, + -422.6491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 289.71176652766843, + -424.1491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 292.30984273902175, + -425.6491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 294.90791895037506, + -427.1491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 297.5059951617284, + -428.6491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 300.1040713730817, + -430.1491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 302.702147584435, + -431.6491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 305.3002237957883, + -433.1491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 307.89830000714164, + -434.6491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 310.49637621849496, + -436.1491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 313.0944524298483, + -437.6491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 315.6925286412016, + -439.1491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 318.2906048525549, + -440.6491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 320.8886810639082, + -442.1491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 323.48675727526154, + -443.6491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 326.08483348661485, + -445.1491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 328.68290969796817, + -446.6491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 331.2809859093215, + -448.1491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 333.8790621206748, + -449.6491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 336.4771383320281, + -451.1491796869533, + 36.14380915549614 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 336.4771383320281, + -451.1491796869533, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 337.9771383320281, + -453.7472558983066, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 339.4771383320281, + -456.3453321096599, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 340.9771383320281, + -458.94340832101324, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 342.4771383320281, + -461.54148453236655, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 343.9771383320281, + -464.13956074371987, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 345.4771383320281, + -466.7376369550732, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 346.9771383320281, + -469.3357131664265, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 348.4771383320281, + -471.9337893777798, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 349.9771383320281, + -474.53186558913313, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 351.4771383320281, + -477.12994180048645, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 352.9771383320281, + -479.72801801183977, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 354.4771383320281, + -482.3260942231931, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 355.9771383320281, + -484.9241704345464, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 357.4771383320281, + -487.5222466458997, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 358.9771383320281, + -490.12032285725303, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 360.4771383320281, + -492.71839906860635, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 361.9771383320281, + -495.31647527995966, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 363.4771383320281, + -497.914551491313, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 364.9771383320281, + -500.5126277026663, + 36.14380915549614 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 364.9771383320281, + -500.5126277026663, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 364.9771383320281, + -503.5126277026663, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 364.9771383320281, + -506.5126277026663, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 364.9771383320281, + -509.5126277026663, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 364.9771383320281, + -512.5126277026664, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 364.9771383320281, + -515.5126277026664, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 364.9771383320281, + -518.5126277026664, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 364.9771383320281, + -521.5126277026664, + 36.14380915549614 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 364.9771383320281, + -524.5126277026664, + 36.14380915549614 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 380.0, + -540.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-37-13_1772954887/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-37-13_1772954887/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8087c662ff900bb4cafe83011661f150fa96bbc9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-37-13_1772954887/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 608.1282163574392, + 913.9407458328442, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 606.6282163574392, + 911.3426696214908, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 605.1282163574392, + 908.7445934101374, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 603.6282163574392, + 906.1465171987841, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 602.1282163574392, + 903.5484409874307, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 600.6282163574392, + 900.9503647760773, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 599.1282163574392, + 898.352288564724, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 597.6282163574392, + 895.7542123533706, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 596.1282163574392, + 893.1561361420172, + 36.7066683975485 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 596.1282163574392, + 893.1561361420172, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 596.1282163574392, + 890.1561361420172, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 596.1282163574392, + 887.1561361420172, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 596.1282163574392, + 884.1561361420172, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 596.1282163574392, + 881.1561361420172, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 596.1282163574392, + 878.1561361420172, + 36.7066683975485 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 596.1282163574392, + 878.1561361420172, + 36.7066683975485 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 596.1282163574392, + 878.1561361420172, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 593.5301401460858, + 876.6561361420172, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 590.9320639347325, + 875.1561361420172, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 588.3339877233791, + 873.6561361420172, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 585.7359115120257, + 872.1561361420172, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 583.1378353006724, + 870.6561361420172, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 580.539759089319, + 869.1561361420172, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 577.9416828779656, + 867.6561361420172, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 575.3436066666122, + 866.1561361420172, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 572.7455304552589, + 864.6561361420172, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 570.1474542439055, + 863.1561361420172, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 567.5493780325521, + 861.6561361420172, + 36.7066683975485 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 567.5493780325521, + 861.6561361420172, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 566.0493780325521, + 859.0580599306638, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 564.5493780325521, + 856.4599837193105, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 563.0493780325521, + 853.8619075079571, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 561.5493780325521, + 851.2638312966037, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 560.0493780325521, + 848.6657550852503, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 558.5493780325521, + 846.067678873897, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 557.0493780325521, + 843.4696026625436, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 555.5493780325521, + 840.8715264511902, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 554.0493780325521, + 838.2734502398368, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 552.5493780325521, + 835.6753740284835, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 551.0493780325521, + 833.0772978171301, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 549.5493780325521, + 830.4792216057767, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 548.0493780325521, + 827.8811453944234, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 546.5493780325521, + 825.28306918307, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 545.0493780325521, + 822.6849929717166, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 543.5493780325521, + 820.0869167603632, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 542.0493780325521, + 817.4888405490099, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 540.5493780325521, + 814.8907643376565, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 539.0493780325521, + 812.2926881263031, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 537.5493780325521, + 809.6946119149497, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 536.0493780325521, + 807.0965357035964, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 534.5493780325521, + 804.498459492243, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 533.0493780325521, + 801.9003832808896, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 531.5493780325521, + 799.3023070695363, + 36.7066683975485 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 531.5493780325521, + 799.3023070695363, + 36.7066683975485 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 531.5493780325521, + 796.3023070695363, + 36.7066683975485 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948872 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 516.0, + 768.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-46-55_219147069/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-46-55_219147069/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e597e77d162c2b1c5ac517f5ff9242b0d2e9374d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-46-55_219147069/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1263.3008550366417, + 255.35437872189635, + 39.29668806413806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1265.898931247995, + 253.85437872189635, + 39.29668806413806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1268.4970074593484, + 252.35437872189635, + 39.29668806413806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1271.0950836707018, + 250.85437872189635, + 39.29668806413806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1273.6931598820552, + 249.35437872189635, + 39.29668806413806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1276.2912360934085, + 247.85437872189635, + 39.29668806413806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1278.889312304762, + 246.35437872189635, + 39.29668806413806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1281.4873885161153, + 244.85437872189635, + 39.29668806413806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1284.0854647274687, + 243.35437872189635, + 39.29668806413806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1286.683540938822, + 241.85437872189635, + 39.29668806413806 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1286.683540938822, + 241.85437872189635, + 39.29668806413806 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1289.683540938822, + 241.85437872189635, + 39.29668806413806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1292.683540938822, + 241.85437872189635, + 39.29668806413806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1295.683540938822, + 241.85437872189635, + 39.29668806413806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1298.683540938822, + 241.85437872189635, + 39.29668806413806 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1408.0, + 192.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-9-37_524897797/pose.jsonl b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-9-37_524897797/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..71c845cfe305ff704fca01a5761c5d7cef1cffe7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/low_long/2025-1-3_0-9-37_524897797/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1060.9950624856701, + -1008.8555400313134, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1062.4950624856701, + -1011.4536162426666, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1063.9950624856701, + -1014.05169245402, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1065.4950624856701, + -1016.6497686653734, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1066.9950624856701, + -1019.2478448767267, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1068.4950624856701, + -1021.8459210880801, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1069.9950624856701, + -1024.4439972994335, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1071.4950624856701, + -1027.0420735107868, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1072.9950624856701, + -1029.6401497221402, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1074.4950624856701, + -1032.2382259334936, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1075.9950624856701, + -1034.836302144847, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1077.4950624856701, + -1037.4343783562003, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1078.9950624856701, + -1040.0324545675537, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1080.4950624856701, + -1042.630530778907, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1081.9950624856701, + -1045.2286069902605, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1083.4950624856701, + -1047.8266832016138, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1084.9950624856701, + -1050.4247594129672, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1086.4950624856701, + -1053.0228356243206, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1087.9950624856701, + -1055.620911835674, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1089.4950624856701, + -1058.2189880470273, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1090.9950624856701, + -1060.8170642583807, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1092.4950624856701, + -1063.415140469734, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1093.9950624856701, + -1066.0132166810874, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1095.4950624856701, + -1068.6112928924408, + 38.44246623503018 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1095.4950624856701, + -1068.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1095.4950624856701, + -1071.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1095.4950624856701, + -1074.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1095.4950624856701, + -1077.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1095.4950624856701, + -1080.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1095.4950624856701, + -1083.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1095.4950624856701, + -1086.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1095.4950624856701, + -1089.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1095.4950624856701, + -1092.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1095.4950624856701, + -1095.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1095.4950624856701, + -1098.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1095.4950624856701, + -1101.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1095.4950624856701, + -1104.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1095.4950624856701, + -1107.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1095.4950624856701, + -1110.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1095.4950624856701, + -1113.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1095.4950624856701, + -1116.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1095.4950624856701, + -1119.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1095.4950624856701, + -1122.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1095.4950624856701, + -1125.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1095.4950624856701, + -1128.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1095.4950624856701, + -1131.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1095.4950624856701, + -1134.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1095.4950624856701, + -1137.6112928924408, + 38.44246623503018 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1095.4950624856701, + -1140.6112928924408, + 38.44246623503018 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1100.0, + -1156.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +}